Example ROS Implementation
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The example code presents an example of reading in raw radar data over a network stream, and presenting this as a variety of ROS topics.
Requirements
Visual Studio 2019
ROS 1 SDK
OpenCV (for visualisation)
Example: Mobile-Platform
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This application is a tool for processing the raw radar data (ideal for moving platforms). |
It works by using dynamic reconfiguration to allow the user flexibility in analysing the data the radar is sending. The topics published by the application are a pointcloud of the filtered data, an image topic with identified targets highlighted and another image topic showing the intermediate filtering stage to show the user what’s happening in the background. It also gives the user the option to publish the filtered data as a laser scan.
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The Talker1 application handles communication with a radar (IP address configured in line 205 of talker1.cpp)
According to the options set within the “dynamic reconfigure” pane, the Mobile Platform application publishes a pointcloud of the filtered data, an image topic with identified targets highlighted and another image topic showing the intermediate filtering stage to show a user what is happening in the background. It also gives the user the option to publish the filtered data as a laser scan.
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NOTE: The Laser Scan data format loses the depth information available from the sensor. The laser scan returns the range of the first object the radar sees.This can then be used as the laser scan in combination with a tf topic containing odometry information of your robot to create a map and localize with gmapper. In rviz, view the laser scan topic by typing in the header frame "navtech_laserscan". |
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