Hinson_FE_ROS1_driver_V1.2

1. Modify Radar Parameters
Method: Modify the corresponding parameters in the launch file: "spin_frequency_Hz", "angle_increment", "noise_filter_level"
Description: The radar scanning parameters will be modified to the values in the launch file after starting this driver. To set the sensor parameters as follows:
1. Measurement frequency: 100kHz
2. Scan frequency: 15Hz
3. Noise filter level: Medium
Then add the following statement in the launch file:




Note: The above statements must be filled in according to the instruction manual level. If there are errors in filling or no statements are added, the radar parameters will not be changed.
Note: This value will overwrite the parameter value set by the Windows configuration software, and the parameter value set by the Windows configuration software will be restored after the sensor is powered off and restarted. The IP address and port of the sensor in the launch file need to be configured according to the value set by the Windows configuration software, otherwise it will not be able to connect.
If you do not need to change the radar scanning parameters, but need to use the parameters set by the Windows configuration software, set "change_param" to "false".

2. Anti-tailing Filter Function
Method: Modify the corresponding parameters in the launch file: "shadows_filter_max_angle", "shadows_filter_min_angle", "shadows_filter_traverse_step", "shadows_filter_window", "shadows_filter_level"
Description: Traverse the radar data with shadows_filter_traverse_step as the step size. Each search traverses the next shadows_filter_window points of the traversal point. If the vertical angle between the two is less than shadows_filter_min_angle or greater than shadows_filter_max_angle, the longer point is set to 60.001m
1. When shadows_filter_level is -1, the filtering algorithm is configured according to the specific parameters
1) shadows_filter_max_angle: The maximum value of the screened angle
2) shadows_filter_min_angle: The minimum value of the screened angle
3) shadows_filter_traverse_step: Step size of traversal points (check every n points)
4) shadows_filter_window: Search window size (check the next n values of the traversal point)
2. When shadows_filter_level is 0, ignore the parameter settings and do not add the anti-tailing filtering function
3. When shadows_filter_level is 1, the filtering speed is faster, and the screening angle is large
4. When shadows_filter_level is 2, the filtering speed is slower, and the screening angle is large
5. When shadows_filter_level is 3, the filtering speed is slower, and the screening angle is small
6. If the launch file does not set the above parameters, the default is as follows:
1) shadows_filter_level: -1 # Configure the anti-tailing filter according to the specific parameters
2) shadows_filter_max_angle: 175 # The maximum value of the screened angle is 175 degrees
3) shadows_filter_min_angle: 5 # The minimum value of the screened angle is 5 degrees
4) shadows_filter_traverse_step: 1 # Traverse each point
5) shadows_filter_window: 2 # Search for the next 2 points of the traversal point to see if there is a tailing phenomenon