mkdir folder
mkdir folder/src
cd folder/src
git clone https://github.com/sergiocasaspastor/myrepository.git
cd …
catkin_make
source devel/setup.bash
roslaunch socketcan_bridge radar.launch
编译问题：
很多报错关于pcl函数最后有个lambda：https://blog.csdn.net/m0_62294345/article/details/122605297
在这里修改c++11为c++14
There is a command called cansend, that belongs to can-utils, used for sending configuration messages to the radar. Here are some messages proposed, but other messages can be sent (watch the manual ARS40X_Technical_Documentation_V 1.8_18.10.2017 inside documentation folder).
Installation of can-utils
sudo apt-get install can-utils
candump can0 // Watch the raw data received once the peak CAN bus is installed and connected to Radar
注：candump can0 not working 的问题：https://forums.raspberrypi.com/viewtopic.php?t=323572
加粗样式sudo /sbin/ip link set can0 up type can bitrate 500000
candump can0
Configuration messages to choose between cluster detection or object detection
cansend can0 200#F8000000089C0000 // Objects detection with all extended properties
cansend can0 200#F8000000109C0000 // Clusters detection with all extended properties
Configuration messages for applying different filters.
cansend can0 202#8C0000012C // Maximum distance of objects detected 30 meters
cansend can0 202#AE06800FFF // Minimum value of object RCS -10 dBm2
cansend can0 202#C600030007 // Minimum value of objects probability of existence 75%
Other option to configure the radar is to modify the values of configuration_vars.h inside the header folder of socketcan brige. Please remember that is necessary to build the package again in order to save the values chosen in the configuration header file.
**可以不安装
参考:https://blog.csdn.net/m0_58322903/article/details/121630592
参考：https://blog.csdn.net/szzfq61/article/details/116950448
参考：https://zhuanlan.zhihu.com/p/508913551
Param xml is
The traceback for the exception was written to the log file
解决参考：https://blog.csdn.net/u011573853/article/details/124203235 launch文件中的xacro.py 修改为xacro
[FATAL] [1673934596.084064341]: Failed to initialize can_device at can0
[socketcan_bridge_node-4] process has died [pid 28657, exit code 1, cmd /home/jxdr-ai/ars408_1/devel/lib/socketcan_bridge/socketcan_bridge_node __name:=socketcan_bridge_node __log:=/home/jxdr-ai/.ros/log/c4f36618-962a-11ed-be63-cb048613a059/socketcan_bridge_node-4.log].
log file: /home/jxdr-ai/.ros/log/c4f36618-962a-11ed-be63-cb048613a059/socketcan_bridge_node-4*.log
sudo /sbin/ip link set can0 up type can bitrate 500000
sudo ip link set dev can0 up
candump can0
具体更多can相关命令参考：https://blog.csdn.net/kunkliu/article/details/79108561
运行报错：home/jxdr-ai/ARS408/src/ros_canopen/canopen_master/src/objdict.cpp:269：35，expected class-name before ‘{’ token
269 | class Data: boost::noncopyable{
解决办法：在对应文件中添加#include <boost/noncopyable.hpp>
解决：在kalman_filter文件夹下的makelists文件中最下面把大写的ExtendedKF改成小写的extendedkf]，并且开头的c++11修改为c++14]
解决：找到radar_rviz目录下的文件搜索“/radar”修改为“radar”
驱动安装：
安装驱动:
问题:
udevadm: Command not found
//安装依赖库
$ sudo apt-get install udev
//安装依赖库
$ sudo apt-get install libpopt-dev
$ wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.12.0.tar.gz
$tar -zxvf peak-linux-driver-8.1.tar.gz
$cd peak-linux-driver-8.1
$make clean
$make all NET=NETDEV_SUPPORT PCI=NO ISA=NO DNG=NO PCC=NO
$sudo make install
驱动识别:
重启电脑后，执行
$cat /proc/pcan
*------------- PEAK-System CAN interfaces (www.peak-system.com) -------------
*------------- Release_20210505_n (8.12.0) Oct 27 2021 18:22:59 --------------
*---------------------- [mod] [isa] [pci] [pec] [usb] -----------------------
*--------------------- 1 interfaces @ major 245 found -----------------------
*n -type- -ndev- --base-- irq --btr- --read-- --write- --irqs-- -errors- status
32 usb -NA- 0 000 0x001c 00000001 00000000 00000005 00000000 0x0000
pcanview 安装
//32bit 根据系统定
$ wget https://www.peak-system.com/debian/dists/trusty/non-free/binary-i386/pcanview-ncurses_0.8.9-0_i386.deb
//64bit
$ https://www.peak-system.com/debian/dists/trusty/non-free/binary-amd64/pcanview-ncurses_0.8.10-0_amd64.deb
$ sudo dpkg -i pcanview- ncurses_0.8.9-0_i386.deb
linux执行文件提示No such file or directory，是软件位数和系统不匹配，更换版本。
deb安装包卸载命令
sudo apt-get autoremove pcanview- ncurses
主要学习文章：
(58条消息) ROS中进行大陆ARS408雷达点云的可视化及二次开发(一)_naca yu的博客-CSDN博客_毫米波雷达数据可视化
遇到问题：
Could not find a package configuration file provided by “costmap_converter“ with any of the follow_kay880的博客-CSDN博客
(58条消息) Could not find the required component ‘tf2_geometry_msgs‘. The following CMake error indicates that_振华OPPO的博客-CSDN博客
出现了socket_can.hpp找不到的问题，通过将源码中库的引用<>改成“”可以解决包找不到的问题，如下图 #include “socket_can/socket_can.hpp”。
解决不了采用一下方法
qjn@ubuntu:~/catkin_ws/src/ars_40X/include$ cp -rf ~/socket_can/include/socket_can ./
===========================================================================
sudo /sbin/ip link set can0 up type can bitrate 500000
sudo ip link set dev can0 up
candump can0
roslaunch ars_40X ars_40X.launch visualize:=true obstacle_array:=true
