astuff / astuff_sensor_msgs

A set of messages specific to each sensor supported by AutonomouStuff.

ROS Messages for AutonomouStuff-provided Drivers

A set of ROS message packages for each AutonomouStuff-provided driver. astuff_sensor_msgs contains:

• delphi_esr_msgs
• delphi_mrr_msgs
• delphi_srr_msgs
• ibeo_lux_msgs
• ibeo_msgs (Messages for all Ibeo sensors)
• kartech_linear_actuator_msgs
• mobileye_560_660_msgs
• neobotix_usboard_msgs
• derived_object_msgs (abstracted sensor messages for like Objects and Closest In-Path Vehicles)

Deprecated msg packages:

• pacmod_msgs (Deprecated and renamed to pacmod3_msgs as of ROS Noetic and ROS2)
• radar_msgs (Moved to ros-perception as of ROS Noetic and ROS2)

For more information on the individual drivers, see the AutonomouStuff Wiki.

astuff_sensor_msgs's Issues

Having trouble to communicate using Ethernet

I know this is not the right place to ask this kind of question but couldn't find any other way.

I have a Delphi ESR 2.5 (24 V) radar which works perfectly using CAN, but can't ping using Ethernet.

Is there any way to know if there is a hardware problem?

Does it only work with specific USB - Ethernet adapters (the one described in the manual)?

Asked question in ROS forum too

pacmod_msgs new release into Kinetic broke the pacmod build

This release: ros/rosdistro#23590 of 3.0.1 appears to have changed the messages in a way to break pacmod's build

The latest build: http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__pacmod__ubuntu_xenial_amd64__binary/20/console

15:21:47 [ 25%] Building CXX object CMakeFiles/pacmod.dir/src/pacmod_ros_msg_handler.cpp.o 15:21:47 /usr/lib/ccache/x86_64-linux-gnu-g++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"pacmod\" -I/tmp/binarydeb/ros-kinetic-pacmod-2.0.2/include/pacmod -I/opt/ros/kinetic/include -I/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -g -O2 -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -o CMakeFiles/pacmod.dir/src/pacmod_ros_msg_handler.cpp.o -c /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp: In member function ‘void AS::Drivers::PACMod::PacmodTxRosMsgHandler::fillSteeringPIDRpt1(const std::shared_ptr&, pacmod_msgs::SteeringPIDRpt1*, std::__cxx11::string)’: 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp:290:12: error: ‘pacmod_msgs::SteeringPIDRpt1 {aka struct pacmod_msgs::SteeringPIDRpt1_ >}’ has no member named ‘Kp’ 15:21:50 new_msg->Kp = dc_parser->Kp; 15:21:50 ^ 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp:291:12: error: ‘pacmod_msgs::SteeringPIDRpt1 {aka struct pacmod_msgs::SteeringPIDRpt1_ >}’ has no member named ‘Ki’ 15:21:50 new_msg->Ki = dc_parser->Ki; 15:21:50 ^ 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp:292:12: error: ‘pacmod_msgs::SteeringPIDRpt1 {aka struct pacmod_msgs::SteeringPIDRpt1_ >}’ has no member named ‘Kd’ 15:21:50 new_msg->Kd = dc_parser->Kd; 15:21:50 ^ 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp: In member function ‘void AS::Drivers::PACMod::PacmodTxRosMsgHandler::fillSteeringPIDRpt2(const std::shared_ptr&, pacmod_msgs::SteeringPIDRpt2*, std::__cxx11::string)’: 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp:304:12: error: ‘pacmod_msgs::SteeringPIDRpt2 {aka struct pacmod_msgs::SteeringPIDRpt2_ >}’ has no member named ‘P_term’ 15:21:50 new_msg->P_term = dc_parser->P_term; 15:21:50 ^ 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp:305:12: error: ‘pacmod_msgs::SteeringPIDRpt2 {aka struct pacmod_msgs::SteeringPIDRpt2_ >}’ has no member named ‘I_term’ 15:21:50 new_msg->I_term = dc_parser->I_term; 15:21:50 ^ 15:21:50 /tmp/binarydeb/ros-kinetic-pacmod-2.0.2/src/pacmod_ros_msg_handler.cpp:306:12: error: ‘pacmod_msgs::SteeringPIDRpt2 {aka struct pacmod_msgs::SteeringPIDRpt2_ >}’ has no member named ‘D_term’ 15:21:50 new_msg->D_term = dc_parser->D_term; 15:21:50 ^ 15:21:50 CMakeFiles/pacmod.dir/build.make:65: recipe for target 'CMakeFiles/pacmod.dir/src/pacmod_ros_msg_handler.cpp.o' failed 15:21:50 make[4]: Leaving directory '/tmp/binarydeb/ros-kinetic-pacmod-2.0.2/obj-x86_64-linux-gnu' 15:21:50 make[4]: *** [CMakeFiles/pacmod.dir/src/pacmod_ros_msg_handler.cpp.o] Error 1 15:21:50 make[3]: *** [CMakeFiles/pacmod.dir/all] Error 2 15:21:50 CMakeFiles/Makefile2:126: recipe for target 'CMakeFiles/pacmod.dir/all' failed 15:21:50 make[3]: Leaving directory '/tmp/binarydeb/ros-kinetic-pacmod-2.0.2/obj-x86_64-linux-gnu' 15:21:50 make[2]: *** [all] Error 2 15:21:50 Makefile:130: recipe for target 'all' failed 15:21:50 make[2]: Leaving directory '/tmp/binarydeb/ros-kinetic-pacmod-2.0.2/obj-x86_64-linux-gnu' 15:21:50 dh_auto_build: make -j1 returned exit code 2 15:21:50 cd /tmp/binarydeb/ros-kinetic-pacmod-2.0.2 15:21:50 debian/rules:35: recipe for target 'override_dh_auto_build' failed 15:21:50 make[1]: Leaving directory '/tmp/binarydeb/ros-kinetic-pacmod-2.0.2' 15:21:50 make[1]: *** [override_dh_auto_build] Error 2 15:21:50 debian/rules:22: recipe for target 'build' failed 15:21:50 make: *** [build] Error 2 15:21:50 dpkg-buildpackage: error: debian/rules build gave error exit status 2 15:21:50 E: Building failed 15:21:50 Traceback (most recent call last): 15:21:50 File "/tmp/ros_buildfarm/ros_buildfarm/binarydeb_job.py", line 138, in build_binarydeb 15:21:50 subprocess.check_call(cmd, cwd=source_dir) 15:21:50 File "/usr/lib/python3.5/subprocess.py", line 581, in check_call 15:21:50 raise CalledProcessError(retcode, cmd) 15:21:50 subprocess.CalledProcessError: Command '['apt-src', 'build', 'ros-kinetic-pacmod']' returned non-zero exit status 1 15:21:50 # END SUBSECTION

I'm preparing for a sync. We can either roll this back of get a new release of pacmod in to resolve the issue. With no respond I will default to rolling back the above release before syncing.

Do mobileye_560_660_msgs apply to MobileEye 630?

Do mobileye_560_660_msgs apply to MobileEye 630 dev kit?

https://autonomoustuff.com/product/mobileye-camera-dev-kit/

Thinking about buying it but wanna understand the information in the messages first.

release astuff_sensor_msgs in ROS eloquent

Hi! Do you have any plans to release astuff_sensor_msgs for ros2 eloquent?

Move / rename radar_msgs

Hi,

We're working on building standardized ROS messages for radars right now and starting to finalize them. We would like to use the name radar_msgs since they're the generalized form of radar_msgs. However, since this repo has a package with that name, we can't release under it without conflicts.

My understanding from talking with Josh is that these are pretty specific in nomenclature and mostly used only in Delphi drivers.

Can we change the names to reflect that and/or migrate any use causes you have for them into our new standardized format?

Release new version of delphi_esr_msgs

Release on Noetic only, so previous ROS distros aren't disrupted.

A question to use 2 delphi-srr transmitting data to a can bus

I have appreciated your works.
I have a question about using 2 delphi srr at once.

Situation

I ran 2 delphi_srr nodes to use 2 radars.
I set a first delphi_srr node as left and a second delphi_srr node as right.
But, I am not sure that an actual left radar got parameters for the left radar such as sensor_frame_id = left_srr and srr_side = Left. A right radar too.
The only way for me to check it was to see markers published from /as_tx/radar_markers.
I want to know how to explicitly match a delphi_srr node for the left radar with the actual left radar.
Or if there is an internal automatic mechanism to determine which node is left or right, please let me know the mechanism.
Our team car might make accidents if we couldn't sure the source of data, from a left radar or a right radar.

Here are the hardware configuration and software I used.

Hardware

 2 Delphi srr are installed on the left and right side of a car.
 There are 2 can bus for radars.
 A XCAN has provided vehicle status to two radars.
 A PCAN has being carried detection data from the radars to a PC.

Software

 I have used ros-kinetic on ubuntu 16.04
 Modified delphi_srr.launch file have been used to run 2 delphi_srr nodes.
Here is the delphi_srr.launch.

<!-- delphi_srr.launch -->
<?xml version="1.0"?>
<launch>
  <arg name="left_srr_frame_id" default="left_srr"/>
  <arg name="right_srr_frame_id" default="right_srr"/>

  <arg name="srr_upside_down" default="false" />
  <arg name="left_srr_side" default="Left" /> <!-- Options are "Left" or "Right" -->
  <arg name="right_srr_side" default="Right" /> <!-- Options are "Left" or "Right" -->
  <arg name="filter_on_valid" default="false" />

  <arg name="use_kvaser" default="true" /> <!-- check if use_kvaser is true or not-->>
  <arg name="kvaser_circuit_id" default="0" />
  <arg name="pcan_kvaser_hardware_id" default="44186" />
  <arg name="pcan_bit_rate" default="500000" />
  <arg name="vcan_kvaser_hardware_id" default="44188" />
  <arg name="vcan_bit_rate" default="125000" />

  <arg name="use_socketcan" default="false" />
  <!--arg name="socketcan_device" default="can0" /-->

  <node pkg="kvaser_interface" type="kvaser_can_bridge" name="kvaser_can_bridge_pcan" output="screen" if="$(arg use_kvaser)">
    <param name="can_hardware_id" value="$(arg pcan_kvaser_hardware_id)" />
    <param name="can_circuit_id" value="$(arg kvaser_circuit_id)" />
    <param name="can_bit_rate" value="$(arg pcan_bit_rate)" />
    <remap from="/can_rx" to="/srr_can_rx"/>
    <remap from="/can_tx" to="/srr_can_tx"/>
  </node>

  <node pkg="kvaser_interface" type="kvaser_can_bridge" name="kvaser_can_bridge_vcan" output="screen" if="$(arg use_kvaser)">
    <param name="can_hardware_id" value="$(arg vcan_kvaser_hardware_id)" />
    <param name="can_circuit_id" value="$(arg kvaser_circuit_id)" />
    <param name="can_bit_rate" value="$(arg vcan_bit_rate)" />
    <!--remap from="/can_rx" to="/srr_can_rx"/-->
    <!--remap from="/can_tx" to="/srr_can_tx"/-->
  </node>

  <!--node pkg="socketcan_bridge" type="socketcan_bridge_node" name="socketcan_bridge" if="$(arg use_socketcan)">
    <param name="can_device" value="$(arg socketcan_device)" />
  </node-->

  <node pkg="delphi_srr" type="delphi_srr" name="delphi_srr_left">
    <param name="sensor_frame_id" value="$(arg left_srr_frame_id)"/>
    <param name="srr_side" value="$(arg left_srr_side)"/>
    <param name="sensor_upside_down" value="true"/>
    <param name="filter_on_valid" value="$(arg filter_on_valid)" />
    <remap from="/can_rx" to="/srr_can_rx"/>
    <remap from="/can_tx" to="/srr_can_tx"/>
    <remap from="/as_tx/detections" to="as_tx/left_detections"/>
    <remap from="/as_tx/radar_markers" to="/as_tx/left_radar_markers"/>
  </node>

  <node pkg="delphi_srr" type="delphi_srr" name="delphi_srr_right">
    <param name="sensor_frame_id" value="$(arg right_srr_frame_id)"/>
    <param name="srr_side" value="$(arg right_srr_side)"/>
    <param name="sensor_upside_down" value="$(arg srr_upside_down)"/>
    <param name="filter_on_valid" value="$(arg filter_on_valid)" />
    <remap from="/can_rx" to="/srr_can_rx"/>
    <remap from="/can_tx" to="/srr_can_tx"/>
    <remap from="/as_tx/detections" to="as_tx/right_detections"/>
    <remap from="/as_tx/radar_markers" to="/as_tx/right_radar_markers"/>
  </node>
</launch>

New 4.0.0 Release

Need to do a release where pacmod_msgs no longer exists. This will be the default release for ROS2 versions into the future.

ROS2 release

@icolwell-as Will astuff_sensor_msgs be released in foxy, galactic and rolling?

Add description of member on messages

some members of some messages are quite ambiguous, and hard to know what they are. for example on ESRTrack.msg "track_status". It would be helpful to comment some of these, or add constants that can be used.

ibeo_msgs CMake Error

Hello,

Thanks for contributing ROS driver for Ibeo Lidars.
Currently, I am trying to build a workspace using the following Ibeo packages from astuff repo.
ibeo_core
ibeo_lx
ibeo_msgs

But getting CMake error as bellow, could anyone please guide me to fix this error!

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
sed: can't read msg/CameraImage.msg: No such file or directory
sed: can't read msg/ContourPointSigma.msg: No such file or directory
sed: can't read msg/DeviceStatus.msg: No such file or directory
sed: can't read msg/ErrorWarning.msg: No such file or directory
sed: can't read msg/HostVehicleState2805.msg: No such file or directory
sed: can't read msg/HostVehicleState2806.msg: No such file or directory
sed: can't read msg/HostVehicleState2807.msg: No such file or directory
sed: can't read msg/IbeoDataHeader.msg: No such file or directory
sed: can't read msg/MountingPositionF.msg: No such file or directory
sed: can't read msg/Object2221.msg: No such file or directory
sed: can't read msg/Object2225.msg: No such file or directory
sed: can't read msg/Object2270.msg: No such file or directory
sed: can't read msg/Object2271.msg: No such file or directory
sed: can't read msg/Object2280.msg: No such file or directory
sed: can't read msg/ObjectData2221.msg: No such file or directory
sed: can't read msg/ObjectData2225.msg: No such file or directory
sed: can't read msg/ObjectData2270.msg: No such file or directory
sed: can't read msg/ObjectData2271.msg: No such file or directory
sed: can't read msg/ObjectData2280.msg: No such file or directory
sed: can't read msg/Point2Df.msg: No such file or directory
sed: can't read msg/Point2Di.msg: No such file or directory
sed: can't read msg/Point2Dui.msg: No such file or directory
sed: can't read msg/ResolutionInfo.msg: No such file or directory
sed: can't read msg/ScanData2202.msg: No such file or directory
sed: can't read msg/ScanData2204.msg: No such file or directory
sed: can't read msg/ScanData2205.msg: No such file or directory
sed: can't read msg/ScanData2208.msg: No such file or directory
sed: can't read msg/ScannerInfo2204.msg: No such file or directory
sed: can't read msg/ScannerInfo2205.msg: No such file or directory
sed: can't read msg/ScanPoint2202.msg: No such file or directory
sed: can't read msg/ScanPoint2204.msg: No such file or directory
sed: can't read msg/ScanPoint2205.msg: No such file or directory
sed: can't read msg/ScanPoint2208.msg: No such file or directory
sed: can't read msg/Sigma2D.msg: No such file or directory
sed: can't read msg/Size2D.msg: No such file or directory
sed: can't read msg/TrackedProperties.msg: No such file or directory
sed: can't read msg/UntrackedProperties.msg: No such file or directory
sed: can't read msg/Velocity2D.msg: No such file or directory
CMake Error at /home/ajay/ibeo_ws/build/ibeo_msgs/cmake/ibeo_msgs-genmsg.cmake:3 (message):
  Could not find messages which
  '/home/ajay/ibeo_ws/src/ibeo_msgs/msg/CameraImage.msg' depends on.  Did you
  forget to specify generate_messages(DEPENDENCIES ...)?

  Cannot locate message [Time]: unknown package [builtin_interfaces] on
  search path [{{'ibeo_msgs': ['/home/ajay/ibeo_ws/src/ibeo_msgs/msg'],
  'std_msgs': ['/opt/ros/melodic/share/std_msgs/cmake/../msg']}}]
Call Stack (most recent call first):
  /opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
  ibeo_msgs/CMakeLists.txt:75 (generate_messages)

Any response is much appreciated.

Regards,
Ajay

CI: Add ROS2 Foxy builds

Deprecate pacmod_msgs

Since it has turned into pacmod3_msgs as of Ubuntu 20.04 (ROS Noetic and ROS2 Foxy).

Consider moving pacmod_msgs into the pacmod3 driver repo

Much like all other ROS drivers, consider moving the message package into the same repo as the driver package.

Consider deprecating the astuff_sensor_msgs meta package

It's not currently clear what benefit the astuff_sensor_msgs meta package serves.
Any messages in this repo will be auto-installed by the drivers since they are listed as dependencies anyway.

derived_object_msgs/ObjectArray viz plugin for RVIZ?

does anyone know if there exists already an RVIZ plugin for derived_object_msgs/ObjectArray?

Is there a ROS driver for these messages available on ARM processors?

I'd like to consume delphi-esr messages from this repo on a Jetson Xavier NX, which has an ARM processor. On x86 I can install the ROS driver just fine and it publishes these messages. But here are the relevant logs when trying to follow those same install steps on an ARM processor. Please let me know an alternative approach for installing on Ubuntu 18 ARM:

sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list' && apt-get update && apt-get install --yes --no-install-recommends apt-transport-https ros-${ROS_DISTRO}-multisense ros-${ROS_DISTRO}-delphi-esr-msgs ros-${ROS_DISTRO}-derived-object-msgs ros-${ROS_DISTRO}-delphi-esr && apt-get clean
---> Running in 8c1e095e504e
Get:1 http://packages.ros.org/ros/ubuntu bionic InRelease [4683 B]
Hit:2 http://ports.ubuntu.com/ubuntu-ports bionic InRelease
Ign:3 https://s3.amazonaws.com/autonomoustuff-repo bionic InRelease
Get:4 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease [88.7 kB]
Get:5 https://s3.amazonaws.com/autonomoustuff-repo bionic Release [2923 B]
Ign:6 https://s3.amazonaws.com/autonomoustuff-repo bionic Release.gpg
Get:7 https://s3.amazonaws.com/autonomoustuff-repo bionic/main arm64 Packages [974 B]
Get:8 http://packages.ros.org/ros/ubuntu bionic/main arm64 Packages [731 kB]
Get:9 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease [74.6 kB]
Get:10 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease [88.7 kB]
Get:11 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe arm64 Packages [1893 kB]
Get:12 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main arm64 Packages [1501 kB]
Get:13 http://ports.ubuntu.com/ubuntu-ports bionic-security/universe arm64 Packages [1203 kB]
Get:14 http://ports.ubuntu.com/ubuntu-ports bionic-security/main arm64 Packages [1118 kB]
Fetched 6706 kB in 5s (1439 kB/s)
Reading package lists...
Reading package lists...
Building dependency tree...
Reading state information...
E: Unable to locate package ros-melodic-delphi-esr

Delphi MRR: Trim unused messages

Turns out a lot of the existing messages aren't sent by the MRR, and are used for other purposes completely.
Remove all messages that aren't strictly necessary for simple radar detection operation.

catkin lint reports that radar_msgs and delphi_esr_msgs are not catkin packages

ROS Melodic.

Given

find_package(catkin REQUIRED COMPONENTS
  delphi_esr_msgs radar_msgs
)

catkin lint is reporting

CMakeLists.txt(10): error: 'delphi_esr_msgs' in find_package(catkin) is not a catkin package
CMakeLists.txt(10): error: 'radar_msgs' in find_package(catkin) is not a catkin package

MRR msg cleanup

delphi_srr_msgs throws errors when trying to run rosbag migration makerule.py

Same problem as astuff/automotive_autonomy_msgs#26

Update delphi_esr_msgs

Update to more closely match documentation, fix any typos, etc.

Release astuff_sensor_msgs into ROS Noetic

Do you have any plan to release astuff_sensor_msgs into ROS Noetic?

Release new melodic version (3.0.2)

Release version 3.0.2 off of the melodic branch for melodic only.

Deprecate derived_object_msgs/CipvTrack

It depends on the now-deprecated radar_msgs, and I can't find an instance of any driver actually using this specific message type.

Delphi MRR Detection msg contains range as a integer not a float

When I translate the azimuth and range from this message format to rectangular coordinates and plot the data , the result is a set of concentric curves (due to the range being an integer value). If these values were floats then this problem would not arise. Is it possible to change the data type in the message, or is there a specific reason for using range as an integer? I noticed that azimuth was changed to a float64 in a prior release. Thanks in advance!

Prepare new 3.3.0 release

Create a new 3.3.0 release for the updates to the MRR messages.
This release will only apply to Noetic and ROS2.

Consider linking to new `radar_msgs` in README

The README mentions that radar_msgs was deprecated as of Noetic but it does not mention that it was replaced with https://github.com/ros-perception/radar_msgs, which is intended to be less vendor-specific.