add params for hypothetical radar

src/interfacing/sensor_interfacing/radar_conti_ars408/CMakeLists.txt

@@ -141,6 +141,7 @@ install(
 
 # Install launch files.
 install(DIRECTORY
+  config
   launch
   DESTINATION share/${PROJECT_NAME}
 )

src/interfacing/sensor_interfacing/radar_conti_ars408/config/params.yaml

@@ -0,0 +1,49 @@
+radar_node:
+  ros__parameters:
+    can_channel: "can0"
+    #topic name of list of objects detected
+    object_list_topic_name: "object_list"
+    #topic name of array of markers used to visualize objects detected
+    marker_array_topic_name: "marker_array"
+    #topic name of array of radar tracks detected
+    radar_tracks_topic_name: "radar_tracks"
+    #topic name of array of obstacle detected, corresponds with radar tracks
+    obstacle_array_topic_name: "obstacle_array"
+
+    radar_0:
+        #link of radar, should be relative to base_link      
+        link_name: "front_radar_link"
+        #set filter active flag on filter config index
+        active: [true, false, false, false, false, true, false, false, true, false, false, false, false, false, false]
+        #set filter valid flag on filter config index
+        valid: [true, false, false, false, false, true, false, false, true, false, false, false, false, false, false]
+        filtercfg_min_nofobj: 0
+        filtercfg_max_nofobj: 5
+        filtercfg_min_distance: 0.0
+        filtercfg_max_distance: 409.0
+        filtercfg_min_azimuth: 0.0
+        filtercfg_max_azimuth: 100.0
+        filtercfg_min_vreloncome: 0.0
+        filtercfg_max_vreloncome: 128.0
+        filtercfg_min_vreldepart: 0.0
+        filtercfg_max_vreldepart: 128.0
+        filtercfg_min_rcs: 50.0
+        filtercfg_max_rcs: 80.0
+        filtercfg_min_lifetime: 0.0
+        filtercfg_max_lifetime: 409.0
+        filtercfg_min_size: 0.0
+        filtercfg_max_size: 102.0
+        filtercfg_min_probexists: 5
+        filtercfg_max_probexists: 7
+        filtercfg_min_y: 0.0
+        filtercfg_max_y: 818.0
+        filtercfg_min_x: 0.0
+        filtercfg_max_x: 0.0
+        filtercfg_min_vyrightleft: 0.0
+        filtercfg_max_vyrightleft: 128.0
+        filtercfg_min_vxoncome: 0.0
+        filtercfg_max_vxoncome: 128.0
+        filtercfg_min_vyleftright: 0.0
+        filtercfg_max_vyleftright: 128.0
+        filtercfg_min_vxdepart: 0.0
+        filtercfg_max_vxdepart: 128.0

src/interfacing/sensor_interfacing/radar_conti_ars408/src/radar_conti_ars_408_component.cpp

@@ -195,12 +195,12 @@ radar_conti_ars408::on_configure(const rclcpp_lifecycle::State &) {
   } while (more_params);
 
   can_frame_subscriber_ = this->create_subscription<can_msgs::msg::Frame>(
-      "/from_can_bus", transient_local_qos,
+      "/from_can_bus", 10,
       std::bind(&radar_conti_ars408::can_receive_callback, this, std::placeholders::_1));
   can_frame_publisher_ =
-      this->create_publisher<can_msgs::msg::Frame>("/to_can_bus", transient_local_qos);
+      this->create_publisher<can_msgs::msg::Frame>("/to_can_bus", 10);
   radar_packet_publisher_ =
-      this->create_publisher<radar_msgs::msg::RadarPacket>("/radar_packet", transient_local_qos);
+      this->create_publisher<radar_msgs::msg::RadarPacket>("/radar_packet", 10);
 
   object_count = 0.0;
   set_filter_service_ = create_service<radar_conti_ars408_msgs::srv::SetFilter>(

src/interfacing/sensor_interfacing/setup.sh

@@ -3,7 +3,7 @@ set -e
 
 # Display configuration
 echo Using following configuration
-echo VCAN_INTERFACE: "${VCAN_INTERFACE:=can0}"
+echo VCAN_INTERFACE: "${VCAN_INTERFACE:=vcan0}"
 echo VCAN_SOURCE_PORT: "${VCAN_SOURCE_PORT:=6000}"
 echo VCAN_TARGET_IP: "${VCAN_TARGET_IP:=172.17.0.1}"
 echo VCAN_TARGET_PORT: "$VCAN_TARGET_PORT"