High-resolution raw Radar data, along with it’s nanosecond timing detail, is now published as a dedicated ROS node, along with a configurable laser scan topic, two variants of pointcloud topics, and a 2D image representation of the raw radar data. Below these illustrations presenting radar data through the ROS visualisation tool RVIZ, there is a detailed summary of the ROS2 implementation provided by Navtech Radar, which is available for download at https://bitbucket.org/navtechradar/iasdk-public/src/master/ros/ros2/.

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Navtech ROS2 Examples

The Navtech ROS2 Driver repository contains examples of ROS2 publishers and subscribers, which interface with RTSP cameras and Navtech Radar. Both basic and complete examples are provided which allow simple publishing of data, simple subscribing to data, and also immediate viewing of radar/camera data, using the ROS2 visualisation tool, RVIZ. The Navtech ROS2 driver is dependent on the Navtech SDK.

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Copy the contents of the provided patch folder "nav_radar" to replace ~/iasdk-public/ros/ros2/src/nav_radar

Build the ROS2 IASDK packges

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In short - the above command removes a piece of code which is looking for something (renameat2 system call) that does not exist in kernels < 3.15

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# Debian package build instructions for Navtech ROS2 SDK

## Install the protobuf compiler

sudo apt install protobuf-compiler

## Install the build tools

  sudo apt install python3-bloom python3-rosdep fakeroot debhelper dh-python
    rosdep init
    rosdep update

## Build and install the ROS packages

cd iasdk/ros/ros2
colcon build
. install/setup.bash

## Create YAML to point towards custom ROS packages

Create a yaml file (in the workspace containing the packages, for example) specifying the local packages. Example of yaml content:

(Add an entry for all required packages)

nav_messages:

ubuntu: [nav-messages]

## Create a file in the rosdep sources folder

sudo nano /etc/ros/rosdep/sources.list.d/10-local.list

Add to this file the absolute path of the .yaml file created earlier. Example:

yaml file:///absolute_path_to_local_rosdep_file_list.yaml

## Update the ros dependencies

rosdep update

## Check if the new rosdep packages lists are being correctly found using:

rosdep resolve package_name

## Now build the debian packages

cd ~/iasdk-public/ros/ros2/src/nav_messages
bloom-generate rosdebian --os-name ubuntu --ros-distro humble
cd ~/iasdk-public/ros/ros2/src/nav_messages/debian

Edit the file "control" and change package name from ros-humble-nav-messages to nav-messages

run fakeroot debian/rules binary

This should build a .deb package called nav_messages, in iasdk-public/ros/ros2/src

cd to the next ros2 package root and repeat the above steps

# Install debian packages and check ROS can find them

Note - nav_messages package must be installed first, and nav_launch package must be installed after nav_camera and nav_radar.

This is due to packages being dependent on other pacakges

sudo dpkg -i nav-messages_1.0.0-0jammy_amd64.deb

Repeat the above for all Navtech ROS packages that you require

## Check ROS can find an installed package

ros2 pkg prefix nav_messages

The above should show the location of the installed package. Example: /opt/ros/humble