Integrate smartmicro_ros_radar Functionality#490

data/radar/radar.parm.yaml

@@ -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

launch.hailbopp_full.py

@@ -30,6 +30,7 @@ def generate_launch_description():
         joystick_microsoft,
         # #camera,
         gnss,
+        radar,
         # Old lidar (left and right):
         # lidar_driver_left,
         # lidar_pointcloud_left,

launch_node_definitions.py

@@ -29,6 +29,13 @@
     executable='clock_node'
 )
 
+radar = Node(
+    package="umrr_ros2_driver",
+    executable="smartmicro_radar_node_exe",
+    name="smart_radar",
+    parameters=['/vehicle_interface/data/radar/radar.param.yaml'],
+)
+
 # I don't think we use this... maybe the old gps?
 # but we should keep it for broader vehicle interface...
 gps_node = Node(

src/drivers/smartmicro_ros2_radars/.github/workflows/dockerbuild.yml

@@ -0,0 +1,35 @@
+name: Build and test
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distro: [foxy, humble, jazzy]
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Get the Smart Access binaries
+        run: echo "yes" | ./smart_extract.sh
+
+      - name: Build docker container
+        run: docker build --build-arg ROS_DISTRO=${{ matrix.ros_distro }} -t umrr-ros:${{ matrix.ros_distro }} .
+
+      - name: Build the driver
+        run: docker run --rm -v $(pwd):/code umrr-ros:${{ matrix.ros_distro }} colcon build --packages-skip smart_rviz_plugin
+
+      - name: Run tests
+        run: ROS_DISTRO=${{ matrix.ros_distro }} docker compose up
+
+      - name: Collect test results
+        run: docker run --rm -v`pwd`:/code umrr-ros:${{ matrix.ros_distro }} colcon test-result --all --verbose
+
+      - name: Shut down containers
+        run: docker compose down

src/drivers/smartmicro_ros2_radars/.gitignore

@@ -0,0 +1,16 @@
+build
+install
+log
+*.pyc
+umrr_ros2_driver/__pycache__
+simulator/simulation/build_dir
+simulator/simulation/out
+umrr_ros2_driver/include/umrr_ros2_driver/sensor_params.hpp
+umrr_ros2_driver/include/umrr_ros2_driver/sensor_commands.hpp
+umrr_ros2_driver/smartmicro/*
+!umrr_ros2_driver/smartmicro/include
+umrr_ros2_driver/smartmicro/include/*
+!umrr_ros2_driver/smartmicro/include/DataServicesIface.h
+!umrr_ros2_driver/smartmicro/include/InstructionBuffer.h
+!umrr_ros2_driver/smartmicro/include/Types.h
+!umrr_ros2_driver/smartmicro/Readme.md

src/drivers/smartmicro_ros2_radars/CHANGELOG.md

@@ -0,0 +1,135 @@
+# Change Log
+All notable changes to this project will be documented in this file. This project adheres to [Semantic Versioning](http://semver.org/).
+
+## v1.0.0 - 2021-11-01
+
+### Initial Release
+- **smartmicro_ros2_radars**: First official versioned release.
+- **ROS 2 Node**: Wrapped around `Smart Access C++ API v3.3.15`.
+- **Functionality**: Interfaces with smartmicro automotive radars and publishes incoming data as point cloud.
+
+## v2.0.0 - 2022-05-05
+
+### Major Update
+- **Multi-User Interface**: Supports and publishes data from UMRR96 and UMRR11.
+- **Testing Enhancements**: Implemented a new test approach simulating sensors and interfacing with the node.
+- **New Sensor Firmware Requirement For**: 
+  - UMRR11-T132: V5.1.4
+  - UMRR96-T153: V5.2.4
+
+# v2.1.0 - 2022-06-02
+
+### Minor Update
+- **ROS 2 Services**: Added services to communicate with the sensor.
+- **Mode Changes**: Supports mode changes for UMRR96 and UMRR11.
+- **IP Configuration**: Allows configuring sensor IP addresses via ROS 2 services.
+- **Extended Testing**: Includes ROS 2 services check.
+- **New Sensor Firmware Requirement For**: 
+  - UMRR11-T132: V5.1.4
+  - UMRR96-T153: V5.2.4
+
+## v3.0.0 - 2022-09-23
+
+### Major Update
+- **New Sensor Support**: Added support for smartmicro sensor DRVEGRD 169.
+- **Functionality**: Mode changes and configuration for DRVEGRD 169, publishes radar targets as point cloud data.
+- **Callback Changes**: Data stream callbacks now require a clientID.
+
+## v3.1.0 - 2022-10-19
+
+### Minor Update
+- **New Sensor Support**: Added support for smartmicro sensor DRVEGRD 152.
+- **Functionality**: Mode changes and configuration for DRVEGRD 152, publishes radar targets as point cloud data.
+- **Callback Changes**: Data stream callbacks now require a clientID.
+
+## v3.2.0 - 2022-11-11
+
+### Minor Update
+- **Point Cloud Enhancement**: Introduced signal-to-noise field.
+- **Bug Fixes**: Fixed the max number of sensors that could be connected simultaneously.
+
+## v3.2.1 - 2022-12-16
+
+### Patch Update
+- **Bug Fixes**:
+  - Fixed offset causing anomalies in point clouds from DRVEGRD 152 sensor.
+  - Fixed timestamp calculation bug causing RViz to crash.
+- **Updates**: Updated simulator source files.
+
+## v4.0.0 - 2023-02-06
+
+### Major Update
+- **New UI**: Added user-interface for DRVEGRD 169.
+- **New Modes**: Introduced new modes for DRVEGRD 169.
+- **New Service**: Added ROS 2 service to save configurations.
+- **Model Update**: 'UMRR9F' radar parameter model split into 'UMRR9F_V1_1_1' and 'UMRR9F_V2_0_0'.
+
+## v4.1.0 - 2023-08-21
+
+### Minor Update
+- **New UI**: Added user-interfaces for DRVEGRD 171 and DRVEGRD 152.
+- **Parameter List**: Complete list of all parameters and commands for all sensors accessible via ROS 2 services.
+
+## v5.0.0 - 2023-09-22
+
+### Major Update
+- **CAN Communication**: Enabled for all provided sensor types and interfaces.
+- **Parameter Expansion**: Extended parameters to include settings for connected adapters along with sensor parameters.
+
+## v6.0.0 - 2023-12-20
+
+### Major Update
+- **Firmware Download**: Added features for downloading sensor firmware onto the sensors.
+- **RViz Plugins**:
+  - Log target list data, record, and save it.
+  - Send instructions to the sensors.
+- **Python GUI**: Added a GUI to send custom CAN messages.
+- **Parameter Templates**: Merged radar parameter templates into one file.
+- **Point Cloud Enhancement**: Added polar coordinates.
+- **New UI**: Added user-interface for sensor A4 T171.
+
+## v6.1.0 - 2024-01-26
+
+### Minor Update
+- **New UIs**: Added user interfaces for DRVEGRD 169 and DRVEGRD 152.
+- **Bug Fixes**: 
+  - Fixed issues with the smart record plugin.
+  - Added azimuth and elevation angles in degrees.
+
+## v7.0.0 - 2024-06-07
+
+### New Features
+- **User Interface for DRVEGRD 169**: Introduced a new UI with integrated object tracking capabilities.
+- **RViz Plugins**: Added plugins to RViz for decoding targets, objects, and header information.
+- **Enhanced Command Configurator**: Improved the command configurator for better usability and functionality.
+- **New ROS 2 Parameter - `pub_type`**: Added the `pub_type` parameter to manage the desired publication type.
+- **New message definitions**:
+  - CanObjectHeader.msg includes object status for sensors connected over CAN.
+  - CanTargetHeader.msg includes target status for sensors connected over CAN.
+  - PortObjectHeader.msg includes object status for sensors connected over ethernet.
+  - PortTargetHeader.msg includes target status for sensors connected over ethernet.
+
+## v7.1.0 - 2025-02-12
+
+### New Features
+- **User Interface for DRVEGRD 169 MSE v1.1.0**: Introduced a new UI with integrated object tracking capabilities.
+- **User Interface for DRVEGRD 171 MSE v1.0.0**: Introduced a new UI with integrated object tracking capabilities.
+- **New User Interfaces**: Added user interfaces for DRVEGRD 152 v1.5.0 and DRVEGRD 171 v1.4.0.
+- **RViz Plugins**: Extended service configurator with DRVEGRD 171 MSE instruction set.
+- **Adopted Testing**: Includes check for new DRVEGRD 171 v1.5.0.
+- **Updated External libraries**: Updated external libraries compatible with the new smart access release.
+
+## v8.0.0 - 2026-03-03
+
+### New Features
+- **User Interface for DRVEGRD 166 v1.0.0**: Introduced a new UI.
+- **User Interface for DRVEGRD 166 v2.0.0**: Introduced a new UI.
+- **New User Interfaces**: Added user interfaces for DRVEGRD 169 v3.0.0, DRVEGRD 169 MSE v1.3.0 and DRVEGRD 171 MSE v2.1.0.
+- **Multi-Distro Support**: Added full compatibility for ROS 2 Foxy, Humble, and Jazzy via updated Docker configurations and CI/CD pipelines.
+- **Batch Instruction Interface**: Introduced a new extensible service structure allowing multiple parameters of varying types (float, uint8/16/32) to be sent in a single request.
+- **Asynchronous Firmware Updates**: Refactored the download protocol to use a thread-safe, non-blocking architecture, preventing RViz UI freezes during sensor updates.
+- **Expanded Service Set**: Integrated new GetMode and GetStatus services into the smartmicro node logic.
+- **Enhanced RViz Plugins**: Updated the Service Configurator and Download plugins with improved layouts, section-based parameters, and read/write capabilities.
+
+### Breaking Changes
+- **Message Structure Refactor**: Replaced single-field param and value fields with array-based params, values, and value_types to support batch processing. Existing integrations must be updated to the new array format.

src/drivers/smartmicro_ros2_radars/CONTRIBUTING.md

@@ -0,0 +1,47 @@
+# Contributions
+
+Contributions to the `smartmicro_ros2_radars` are welcomed and highly
+appreciated! :tada::+1:
+
+
+## Contribution Guidelines
+
+First and foremost to get an overview of the project, please read the
+[Readme](Readme.md).
+
+### Gitflow Workflow
+
+This document provides certain guidelines and rules that should be
+followed while contributing to `smartmicro_ros2_radars` and its
+packages. The project follows the Gitflow guidelines and so it is
+expected from the contributor to firstly read the Gitflow guide and
+adhere to it.
+
+If not familiar with Gitflow Workflow, please refer to the following
+link:
+- [Gitflow Workflow](https://www.atlassian.com/git/tutorials/comparing-workflows/gitflow-workflow)
+
+### Bugs and Features
+
+We use GitHub issues to report bugs and make feature requests. For
+each bug/feature a new issue should be created first. It is advised to
+give each issue a label. Once creating a pull request which stems from
+an issue, the pull request must be linked with the respective issue.
+The issue should be closed once the pull request has been successfully
+merged. Also, it is advisable to name the pull request as such that it
+includes the issue number.
+
+In case of suggestions or enhancements, simply create an issue.
+:smile_cat:
+
+### Commits
+
+We would like to have clear and understandable commits, please refer to
+the following link for certain good commit practices:
+- [Commit practices](https://chris.beams.io/posts/git-commit/)
+
+### Coding Style
+
+It is advised to maintain a consistency in the coding style. Refer to
+the following link for ROS2 coding guidelines:
+- [ROS2 code style](https://docs.ros.org/en/foxy/Contributing/Code-Style-Language-Versions.html)

src/drivers/smartmicro_ros2_radars/Dockerfile

@@ -0,0 +1,35 @@
+# ROS 2 distro (default = foxy)
+ARG ROS_DISTRO=foxy
+FROM ros:${ROS_DISTRO}
+
+# Fix repo keys ONLY for Foxy (snapshots issue). 
+RUN if [ "$ROS_DISTRO" = "foxy" ]; then \
+      rm -f /etc/apt/sources.list.d/ros2-snapshots.list || true && \
+      apt-get update && apt-get install -y curl gnupg2 lsb-release && \
+      curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+          -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+      echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+          http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
+          | tee /etc/apt/sources.list.d/ros2.list > /dev/null ; \
+    fi
+
+# Common dependencies
+RUN apt-get update && apt-get install -y \
+    iputils-ping \
+    python3 \
+    python3-pip \
+    wget \
+    git \
+    ca-certificates \
+    && update-ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+# ROS-specific dependencies
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-point-cloud-msg-wrapper \
+    ros-${ROS_DISTRO}-rviz2 \
+    ros-${ROS_DISTRO}-rviz-common \
+    ros-${ROS_DISTRO}-rviz-default-plugins \
+    ros-${ROS_DISTRO}-rviz-rendering
+
+WORKDIR /code