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超声波雷达

设备

  • 正常连接CAN0

硬件激活检查

  • 已经完成硬件安装
  • 启动终端
激活超声波：while true; do cansend can0 601#b91fff; sleep 0.5; done
查看1-4号探头数据：candump can0,611:7ff
查看5-8号探头数据：candump can0,612:7ff

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硬件启动

  • auotware文件下打开Terminal
1. 启动CAN驱动
    source install/setup.bash 
    ros2 launch  ros2_socketcan socket_can_bridge.launch.xml
2. 启动超声波程序
    source install/setup.bash 
    ros2 launch ultra_sonic_radar_driver mc_radar_driver.launch.xml
3. 激活话题——可通过ros2 topic list查看
    ros2 topic pub -1 /sensing/ultra_sonic_radar/activate_radar std_msgs/msg/Bool "{data: True}"

avatar 'ACTIVATING ULTRASONIC RADAR' 则表示启动成功