Ultrasonic radar
Device
- Normal connection to CAN0
Hardware Activation Check
- Hardware installation has been completed
- Start Terminal
Activation Ultrasonic：while true; do cansend can0 601#b91fff; sleep 0.5; done
View search data for No. 1-4：candump can0,611:7ff
View search data for No. 5-8：candump can0,612:7ff
Hardware startup
- Open Terminal under the auotware file
1. CAN Drive
source install/setup.bash
ros2 launch ros2_socketcan socket_can_bridge.launch.xml
2. Ultrasonic Drive
source install/setup.bash
ros2 launch ultra_sonic_radar_driver mc_radar_driver.launch.xml
3. Super active topic——can communicate with ros2 topic list
ros2 topic pub -1 /sensing/ultra_sonic_radar/activate_radar std_msgs/msg/Bool "{data: True}"
'ACTIVATING ULTRASONIC RADAR' means the startup is successful
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Reference Documentation