tas_radar

Collection of ROS-based drivers, tools, preprocessing algorithms and visualization nodes for radar sensors used at our institute TAS.

crossing_with_egocompensated_doppler.mp4

A crossing scenario in RViz with ego-compensated Doppler visualization (dynamic detections surrounded by color-coded bubbles).

This repository contains only sensor drivers for smartmicro (SMS) so far:

• based on Ethernet Interface V07 and Customer Interface V13
• supporting UMRR-11 (Far Range Sensor) and UMRR-96 (Short Range Sensor)
• automatic switching to legacy parsers of outdated protocol versions; simultaneous operation of radars with different firmwares

This collection offers the following features:

• Driver for CAN and BroadR-Reach network
• Real-time sensor configurability (Data integration)
• Graphical configuration tool for multiple sensors in the network
• Dynamic query of sensors in the sensor's default IP range 192.168.11.x - no manual configuration needed
• Message definitions for generic detection-based radar sensors
• Visualization nodes, which also visualize the radial-speed measurement (opt. ego-motion compensated with buffered time synchronization)

This collection has been developed since 2020, tested in multiple hardware setups and used in closed-loop applications. It is based on C++, optimized for low CPU usage and direct measurement data access.

Dependencies

• librosqt
• ethernet_bridge (for BroadR-Reach- or network-based drivers)

Installation

• just install dependencies and compile
• see launch file for example startup

Screenshots

Configuration tool:

Detection accumulation with egomotion-compensated radial speed channel: