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feat: throttled the radar inputs #371

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feat: throttled the radar inputs #371

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42daeff
feat: throttled the radar inputs following indications from the docum…
knzo25 Jan 20, 2025
9d3ba89
Merge branch 'tier4/universe' into feat/ars548_update
knzo25 Jan 21, 2025
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6 changes: 3 additions & 3 deletions aip_x2_gen2_launch/config/ARS548.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@
sensor_model: ARS548
configuration_host_port: 42401
configuration_sensor_port: 42101
use_sensor_time: false
configuration_vehicle_length: 7.2369
configuration_vehicle_width: 2.2916
use_sensor_time: true
configuration_vehicle_length: 7.2369 # wheel_base + front_overhang + rear_overhang
configuration_vehicle_width: 2.2916 # wheel_tread + left_overhang + right_overhang
configuration_vehicle_height: 3.08
configuration_vehicle_wheelbase: 4.76012
44 changes: 26 additions & 18 deletions aip_x2_gen2_launch/launch/radar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,16 +7,24 @@
<let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
<arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>

<let name="odometry_throttled_topic" value="$(var odometry_topic)_throttled"/>
<let name="acceleration_throttled_topic" value="$(var acceleration_topic)_throttled"/>
<let name="steering_angle_throttled_topic" value="$(var steering_angle_topic)_throttled"/>

<node pkg="topic_tools" exec="throttle" name="odometry_throttler" output="screen" args="messages $(var odometry_topic) 25.0 $(var odometry_throttled_topic)"/>
<node pkg="topic_tools" exec="throttle" name="acceleration_throttler" output="screen" args="messages $(var acceleration_topic) 25.0 $(var acceleration_throttled_topic)"/>
<node pkg="topic_tools" exec="throttle" name="steering_angle_throttler" output="screen" args="messages $(var steering_angle_topic) 25.0 $(var steering_angle_throttled_topic)"/>

<group>
<push-ros-namespace namespace="radar"/>
<node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)' --import autoware_vehicle_msgs std_msgs --wait-for-start"/>

<group>
<push-ros-namespace namespace="front_center"/>
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="odometry_topic" value="$(var odometry_throttled_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_throttled_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_throttled_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.114"/>
Expand Down Expand Up @@ -45,9 +53,9 @@
<group>
<push-ros-namespace namespace="front_left"/>
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="odometry_topic" value="$(var odometry_throttled_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_throttled_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_throttled_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.115"/>
Expand Down Expand Up @@ -75,9 +83,9 @@
<group>
<push-ros-namespace namespace="front_right"/>
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="odometry_topic" value="$(var odometry_throttled_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_throttled_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_throttled_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.116"/>
Expand Down Expand Up @@ -105,9 +113,9 @@
<group>
<push-ros-namespace namespace="rear_center"/>
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="odometry_topic" value="$(var odometry_throttled_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_throttled_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_throttled_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.117"/>
Expand Down Expand Up @@ -135,9 +143,9 @@
<group>
<push-ros-namespace namespace="rear_left"/>
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="odometry_topic" value="$(var odometry_throttled_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_throttled_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_throttled_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.118"/>
Expand Down Expand Up @@ -165,9 +173,9 @@
<group>
<push-ros-namespace namespace="rear_right"/>
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="odometry_topic" value="$(var odometry_throttled_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_throttled_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_throttled_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.119"/>
Expand Down
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