DRVEGRD 152

Please Note: This document is not a manual of the company s.m.s, smart microwave sensors GmbH .

Introduction

The DRVEGRD 152 is a 76-77GHz radar sensor from the company s.m.s, smart microwave sensors GmbH. It is suitable for a wide range of automotive applications that features 4D/PxHD technology. The sensor has a medium and a long range mode. The medium range is up to 65 meters and the long range up to 178 meters.

Prerequisites

The following items are required to reproduce the following setup instructions.

• Windows Device

• DRVEGRD 152

• Plug & Play cable (Alternatively, you can make the cable yourself. The connection is described in the Customer Interface.)

• CAN to USB Adapter

• NavQPlus

  • The NavQPlus should be set up with the recommended latest image

  • A configured ROS2 Workspace is required. The example tutorial package is not required.

• Install and download the following software and documents on your PC

  • From the smartmicro Partner Zone (requires access data):

    • Drive Recorder Software

      • Firmware Bundle

        • CANSpec (.csdx)

          • DriveRecorder setup (.dsk)

          • Customer Interfce (User Manual)

          • Ethernet Interface (User Manual)

          • Firmware

  • PEAK Device Driver Setup for the CAN-Interface

How to set up the DRVEGRD 152

1. Make sure that the prerequisites are available.

2. Run the DriveRecorder

3. Load the .dsk file (File -> Load Desktop)

4. Load the .csdx file (File -> Load CanSpec)

5. Check the connection to the sensor: You should see a green indicator in the Hardware Monitor and a point cloud in the TargetDraw tab.

6. Configure the DRVEGRD 152

How to configure the DRVEGRD 152

The DriveRecorder software offers the possibility to configure the DRVEGRD 152. The following configuration is just an example of how the sensor can be set. To configure the DRVEGRD 152, you must switch to the Commad Configurator tab. Each command must be sent separately. Note that the parameter detection_sensitivity is a custom user command.

parameter	value	description
ip_source_address	ip address in decimal form	IP address of the sensor
ip_dest_address	ip address in decimal form	IP address where data should be sent to
ip_dest_port	55555	UDP port used for sending data
output_control_target_list_can	0	Disable output of target list via CAN
output_control_target_list_eth	1	Enable output of target list via ETH
frequency_sweek_idx	0	Enable medium range operation
detection_sensitivity	2	Sensor detection sensitivity: high
comp_eeprom_ctrl_save_param_sec	2010	Saving parameters to EEPROM

DRVEGRD data in ROS2

smartmicro provides a node (see prerequisites) that interfaces with the smartmicro radar driver and publishes the data acquired by the sensor via the ROS2 pipeline.

1. clone the repository from GitHub

git clone https://github.com/smartmicro/smartmicro_ros2_radars.git

1. change the folder to the cloned repository

cd smartmicro_ros2_radars

1. replace "lib-linux-x86_64_gcc_9" with "lib-linux-armv8-gcc_9". Save and exit the file with Ctrl+X

nano umrr_ros2_driver/CMakeLists.txt

1. customize the configuration file. Save and exit the file with Ctrl+X

nano umrr_ros2_driver/param/radar.params.template.yaml

# a small example
/smart_radar:
  ros__parameters:
    adapters:
      adapter_0:
        hw_dev_id: 3
        hw_iface_name: eth1
        hw_type: eth
        port: 55555
    master_data_serial_type: port_based
    master_inst_serial_type: port_based
    sensors:
      sensor_0:
        link_type: "eth"
        model: "umrr9d_v1_0_3"
        dev_id: 3
        id: 100
        ip: "10.0.0.21"
        port: 55555
        frame_id: "umrr"
        history_size: 10
        inst_type: "port_based"
        data_type: "port_based"
        uifname: "umrr9d_t152_automotive"
        uifmajorv: 1
        uifminorv: 0
        uifpatchv: 3
        
    

1. give smart_extract.sh the rights to execute

chmod +x smart_extract.sh

1. get the Smart Access release

./smart_extract.sh

1. build the package

colcon build

1. setup the environment

source install/setup.bash

1. launch the node. Note that the & ensures that the command is executed in the background.

ros2 launch umrr_ros2_driver radar.launch.py&

1. Display the data to validate whether the node is running.

ros2 topic echo /smart_radar/targets_0