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Integrate smartmicro_ros_radar Functionality #490

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252ce18
Add point_cloud_msg_wrapper
Jelatinone Apr 14, 2026
f75e107
Add smartmicro_ros_radar
Jelatinone Apr 14, 2026
91a87a6
Update Launch Configuration With Radars
Jelatinone Apr 14, 2026
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270 changes: 95 additions & 175 deletions launches/launch_node_definitions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,265 +5,185 @@
NAVIGATOR_DIR = "/navigator/"

pure_pursuit_controller = Node(
package='pure_pursuit_controller',
executable='pure_pursuit_controller'
package="pure_pursuit_controller", executable="pure_pursuit_controller"
)

airbags = Node(
package='airbags',
executable='airbag_node'
)
airbags = Node(package="airbags", executable="airbag_node")

camera_streamer = Node(
package='web_video_server',
executable='web_video_server'
)
camera_streamer = Node(package="web_video_server", executable="web_video_server")

carla_guardian = Node(
package='guardian',
executable='guardian_node',
parameters=[
{'simulated': True}
]
package="guardian", executable="guardian_node", parameters=[{"simulated": True}]
)

clock = Node(
package='clock',
executable='clock_node'
)
clock = Node(package="clock", executable="clock_node")

controller_parade = Node(
package="parade_controller",
executable="parade_controller_node"
package="parade_controller", executable="parade_controller_node"
)

costmap_recorder = Node(
package="recording",
executable="costmap_recorder"
)
costmap_recorder = Node(package="recording", executable="costmap_recorder")

driveable_area = Node(
package='driveable_area',
executable='driveable_area_node'
)
driveable_area = Node(package="driveable_area", executable="driveable_area_node")

grid_route_costmap = Node(
package='costs',
executable='route_costmap_node'
)
grid_route_costmap = Node(package="costs", executable="route_costmap_node")

grid_summation = Node(
package='costs',
executable='grid_summation_node'
)
grid_summation = Node(package="costs", executable="grid_summation_node")

ground_seg = Node(
package='ground_seg',
executable='ground_segmentation_exe',
package="ground_seg",
executable="ground_segmentation_exe",
parameters=[
{'sensitivity': 0.13},
]
{"sensitivity": 0.13},
],
)

guardian = Node(
package='guardian',
executable='guardian_node'
)
guardian = Node(package="guardian", executable="guardian_node")

gnss_averager = Node(
package='state_estimation',
executable='gnss_averaging_node'
)
gnss_averager = Node(package="state_estimation", executable="gnss_averaging_node")

image_segmentation = Node(
package='segmentation',
executable='image_segmentation_node'
)
image_segmentation = Node(package="segmentation", executable="image_segmentation_node")

joy_translator = Node(
package='joy_translation',
executable='joy_translation_node'
radar = Node(
package="umrr_ros2_driver",
executable="smartmicro_radar_node_exe",
name="smart_radar",
parameters=["/navigator/param/interface/radar.param.yaml"],
)

junction_manager = Node(
package='costs',
executable='junction_manager'
)
joy_translator = Node(package="joy_translation", executable="joy_translation_node")

mcl = Node(
package='state_estimation',
executable='mcl_node'
)
junction_manager = Node(package="costs", executable="junction_manager")

mcl = Node(package="state_estimation", executable="mcl_node")

map_manager = Node(
package='map_management',
executable='map_management_node',
package="map_management",
executable="map_management_node",
parameters=[
{'from_file': True},
{'data_path': '/navigator/data'},
{'route_path': '/navigator/data/maps/ps4_loop_route.txt'}
]#,
#prefix=['xterm -e gdb -ex run --args']
{"from_file": True},
{"data_path": "/navigator/data"},
{"route_path": "/navigator/data/maps/ps4_loop_route.txt"},
], # ,
# prefix=['xterm -e gdb -ex run --args']
)

map_manager_carla = Node(
package='map_management',
executable='map_management_node',
parameters=[
{'from_file': False}
]#,
#prefix=['xterm -e gdb -ex run --args']
package="map_management",
executable="map_management_node",
parameters=[{"from_file": False}], # ,
# prefix=['xterm -e gdb -ex run --args']
)

odom2tf = Node(
package='recording',
executable='odom2tf'
)
odom2tf = Node(package="recording", executable="odom2tf")

path_planner = Node(
package="path_planners",
package="path_planners",
executable="path_planner_node",
parameters=[
{'planner': 'dijkstra'}
]
) # options: dijkstra, ara-star, dynamic-programming, neural-network, trrt-star
parameters=[{"planner": "dijkstra"}],
) # options: dijkstra, ara-star, dynamic-programming, neural-network, trrt-star

path_planner_nav2 = Node(
package='nav2_path_planner',
executable='nav2_path_planner_node'
package="nav2_path_planner", executable="nav2_path_planner_node"
)

prednet_inference = Node(
package='prednet_inference',
executable='prednet_inference_node'
package="prednet_inference", executable="prednet_inference_node"
)

pedestrian_intent_to_enter_road = Node(
package='pedestrian_intent_to_enter_road',
executable='pedestrian_intent_to_enter_road'
package="pedestrian_intent_to_enter_road",
executable="pedestrian_intent_to_enter_road",
)

recorder = Node(
package='recording',
executable='recorder'
)
recorder = Node(package="recording", executable="recorder")

routing_monitor = Node(
package='helpers',
executable='routing_monitor'
)
routing_monitor = Node(package="helpers", executable="routing_monitor")

routing_hardcoded = Node(
package='helpers',
executable='routing_hardcoded',
parameters=[{'filename': "/navigator/Route.csv"}]
package="helpers",
executable="routing_hardcoded",
parameters=[{"filename": "/navigator/Route.csv"}],
)

rqt = Node(
package='rqt_gui',
executable='rqt_gui',
arguments=["--perspective-file=/navigator/data/rqt.perspective"]
package="rqt_gui",
executable="rqt_gui",
arguments=["--perspective-file=/navigator/data/rqt.perspective"],
)

rtp = Node(
package='rtp',
executable='rtp_node'
)
rtp = Node(package="rtp", executable="rtp_node")

rviz = Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d' + '/navigator/data/navigator_default.rviz'],
package="rviz2",
namespace="",
executable="rviz2",
name="rviz2",
arguments=["-d" + "/navigator/data/navigator_default.rviz"],
respawn=False,
output={'both': 'log'}
output={"both": "log"},
)

semantic_projection = Node(
package='segmentation',
executable='image_projection_node'
)
semantic_projection = Node(package="segmentation", executable="image_projection_node")

sounds = Node(
package='guardian',
executable='sound_node'
)
sounds = Node(package="guardian", executable="sound_node")

static_grid = Node(
package='occupancy_cpp',
executable='static_grid_exe'
)
static_grid = Node(package="occupancy_cpp", executable="static_grid_exe")

web_bridge = Node(
package='rosbridge_server',
executable='rosbridge_websocket'
)
web_bridge = Node(package="rosbridge_server", executable="rosbridge_websocket")

traffic_light_detector = Node(
package='traffic_light_detector',
executable='traffic_light_node'
package="traffic_light_detector", executable="traffic_light_node"
)

road_signs_classifier = Node(
package='road_signs_classifier',
executable='road_signs_classifier',
name='road_signs_classifier',
parameters=[],
package="road_signs_classifier",
executable="road_signs_classifier",
name="road_signs_classifier",
parameters=[],
)

image_segmentation = Node(
package='image_segmentation',
executable='image_seg_node'
)
image_segmentation = Node(package="image_segmentation", executable="image_seg_node")

depth_processing = Node(
package='depth_processing',
executable='depth_processing_node'
)
depth_processing = Node(package="depth_processing", executable="depth_processing_node")

occupancy_grid_node = Node(
package='occupancy_grid',
executable='occupancy_grid'
)
occupancy_grid_node = Node(package="occupancy_grid", executable="occupancy_grid")

intersection_manager = Node(
package='intersection_manager',
executable='intersection_manager'
package="intersection_manager", executable="intersection_manager"
)

lane_type_detector = Node(
package='lane_type_detector',
executable='lane_type_detector',
name='lane_type_detector',
package="lane_type_detector",
executable="lane_type_detector",
name="lane_type_detector",
)

pedestrian_skeleton = Node(
package='pedestrian_skeleton',
executable='pedestrian_skeleton',
name='pedestrian_skeleton',
parameters=[],
package="pedestrian_skeleton",
executable="pedestrian_skeleton",
name="pedestrian_skeleton",
parameters=[],
)

road_user_detector = Node(
package='road_user_detection',
executable='road_user_detection'
package="road_user_detection", executable="road_user_detection"
)

autonomous_cruise_controller = Node(
package='autonomous_cruise',
executable='autonomous_cruise_node',
name='autonomous_cruise_controller',
output='screen',
parameters=['/navigator/param/autonomous_cruise_params.yaml'],
emulate_tty=True
package="autonomous_cruise",
executable="autonomous_cruise_node",
name="autonomous_cruise_controller",
output="screen",
parameters=["/navigator/param/autonomous_cruise_params.yaml"],
emulate_tty=True,
)

autonomous_cruise_intersection_controller = Node(
package='autonomous_cruise',
executable='autonomous_cruise_intersection_node',
name='autonomous_cruise_controller',
output='screen',
parameters=['/navigator/param/gem_e6_intersection_params.yaml'],
emulate_tty=True
)
package="autonomous_cruise",
executable="autonomous_cruise_intersection_node",
name="autonomous_cruise_controller",
output="screen",
parameters=["/navigator/param/gem_e6_intersection_params.yaml"],
emulate_tty=True,
)
27 changes: 27 additions & 0 deletions param/interface/radar.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
/smart_radar:
ros__parameters:
master_inst_serial_type: "port_based"
master_data_serial_type: "port_based"
adapters:
adapter_0:
hw_type: "eth"
hw_dev_id: 2
hw_iface_name: "enp3s0"
port: 55555
sensors:
sensor_0:
link_type: "eth"
pub_type: "target"
model: "umrr9f_v2_4_1"
dev_id: 2
id: 100
ip: "192.168.11.11"
port: 55555
frame_id: "umrr"
history_size: 10
inst_type: "port_based"
data_type: "port_based"
uifname: "umrr9f_t169_automotive"
uifmajorv: 2
uifminorv: 4
uifpatchv: 1
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