Av Radar Bridge

Repo for bridging between internal Continental Radar msgs and standard ROS msgs.

Info

Consists of a pubsub node which subscribes to the internal msg type, converts it to ROS standard msgs and publishes it again.

There are multiple Radar sources, so a node should be run per input/output pair.

And a launch file to bring them all, and in the darkness bind them.

This packages is currently tailored to work with the following ipab-rad packages: radar and ros1_bridge

Usage

This repository is designed to be used alongside a Docker container. Quickly build and run the Docker container using runtime.sh for runtime or debugging, and dev.sh for a convenient development setup.

Runtime or Debugging

Execute the ROS 2 nodes in runtime mode or start an interactive bash session for detailed debugging:

./runtime.sh [bash]

• Without arguments: Activates the container in runtime mode.
• With bash: Opens an interactive bash session for debugging.

Development

Prepare a development setting that reflects local code modifications and simplifies the build process:

./dev.sh

• Live Code Synchronization: Mounts local av_radar_bridge and ecal_to_ros directories with the container.
• Convenience Alias: The development container features a colcon_build alias, which simplifies the ROS2 build process. Executing colcon_build runs colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release and then sources the setup.bash to ensure the environment is updated with the latest build artifacts. This alias enhances productivity by combining build commands and environment setup into a single, easy command.