ARS548_ros：一款用于ROS的ARS 548 RDI雷达驱动
ARS548_ros. An ARS 548 RDI radar driver for ROS
AI总结：
本文针对ARS 548 RDI雷达在Linux系统下缺乏开源驱动的问题，开发了一款兼容ROS和ROS2的驱动程序，提供高级物体特征解析、过滤表示工具及视频教程，并附带Ouster OS1-32 LiDAR基准数据集以供验证。
摘要：
ARS 548 RDI Radar是第五代77 GHz长距离雷达传感器中的高端型号，配备了提供数字波束形成的新型RF天线阵列。该雷达基于新调频脉冲压缩技术，能够在一个测量周期内无需任何反射器即可独立测量物体的距离、速度和角度。遗憾的是，据我们所知，目前Linux系统尚无可用的开源驱动程序供用户分析该传感器采集的数据。本文提出了一款驱动程序，能够解析ARS 548 RDI传感器的数据，并通过Robot Operating System版本1和2（ROS和ROS2）进行提供。因此，可以利用ROS提供的强大工具对这些数据进行存储、表示和分析。此外，我们的驱动程序提供了传感器提供的高级物体特征，例如每个物体的相对估计速度和加速度、其方向和角速度。我们重点关注传感器的配置以及我们驱动程序的使用，包括其过滤和表示工具。此外，我们还提供了一个视频教程以辅助其配置过程。最后，提供了一组使用该传感器和Ouster OS1-32 LiDAR传感器获取的数据集以作为基准测量，以便用户验证我们驱动程序的正确性。
英文摘要：
The ARS 548 RDI Radar is a premium model of the fifth generation of 77 GHz long range radar sensors with new RF antenna arrays, which offer digital beam forming. This radar measures independently the distance, speed and angle of objects without any reflectors in one measurement cycle based on Pulse Compression with New Frequency Modulation. Unfortunately, to the best of our knowledge, there are no open source drivers available for Linux systems to enable users to analyze the data acquired by the sensor. In this paper, we present a driver that can interpret the data from the ARS 548 RDI sensor and make it available over the Robot Operating System versions 1 and 2 (ROS and ROS2). Thus, these data can be stored, represented, and analyzed using the powerful tools offered by ROS. Besides, our driver offers advanced object features provided by the sensor, such as relative estimated velocity and acceleration of each object, its orientation and angular velocity. We focus on the configuration of the sensor and the use of our driver including its filtering and representation tools. Besides, we offer a video tutorial to help in its configuration process. Finally, a dataset acquired with this sensor and an Ouster OS1-32 LiDAR sensor, to have baseline measurements, is available, so that the user can check the correctness of our driver.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
