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grmjw / Penguins

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Setting up the radar interface on ROS #18

Closed siperinio closed 6 months ago

RealRachee commented 6 months ago

RADAR Driver setup

Pre-installation

  1. Download the files in the following archive scripts.zip
  2. Extract the compress, cd scripts to enter the folder or open a terminal inside the extracted folder
  3. run cp ./get_new_driver.bash ~/get_new_driver.bash

Installation

  1. cd into the folder where you want to download the driver or navigate there and open a terminal

  2. run bash ~/get_new_driver.bash

  3. run cd smartmicro_ros2_radars

  4. paste the downloaded smart_extract.sh here from the downloaded scripts archive (or you can use the one already here, but might make stuff difficult)

  5. paste the attached radar.template.yaml file into the umrr_ros2_driver/param folder and return to the smartmicro_ros2_radars folder radar.params.template.yaml.zip

  6. run ./smart_extract.sh and type yes

  7. if you're using the original smart_extract.sh and get 502 Bad Gateway, repeat step 8 until it succeeds, if you use the downloaded one then make sure the progress bar is complete

  8. run colcon build

  9. run source install/setup.bash

  10. run ros2 launch umrr_ros2_driver radar.launch.py command

Current progress

Now using the above steps I could get to executing the driver and getting "Initialization error", due to the fact, that the RADAR is not connected (at the time of testing). @Ayudh-M will test tomorrow with the radar and we can proceed with the configuration properly and I'm sure we can finish setting this up now, the compatibility should not be an issue as Team Polar thought in the beginning.

SalaheldinM commented 6 months ago

Radar interface is completely done now, after fixing the software and hardware issues we encountered which involved using a PEAK CAN adapter which is able to receive data from the lidar and visualize this on rviz.