For the second and further radars, IP. destination port and ROS driver must be modified.
Changing IP and Destination Port in Radar
open the setup page.
change the IPv4 addr to 192.168.3.x (x is a number different than 10)
change the Destination Port to a new number.
Changing ROS Driver
There are two ways to modify the ROS driver:
1, Make rosparam for “Destination Port” and “Frame ID”. Run two instances of altosradar/altosRadarParse with different rosparam for each radar.
2, Make a second altosRadarParse e.g. altosRadarParse2 with altosRadarParse2.cpp. Run altosRadarParse for the first radar and altosRadarParse2 for the second radar.
The following changes are needed for the second radar.
Changing Destination Port
change 4040 to the number given in the setup page
#define PORT 4040
ROS1 noetic:
altosRadarRos/src/altosradar/src/altosRadarParse.cpp at main · Altos-Radar/altosRadarRos
ROS2:
altosRadarRos2/src/altosradar/src/altosRadarParse.cpp at main · Altos-Radar/altosRadarRos2
Changing Frame ID
change “altosRadar” to a new frame ID, e.g. “altosRadar2”
output.header.frame_id = "altosRadar";
ROS1 noetic:
altosRadarRos/src/altosradar/src/altosRadarParse.cpp at main · Altos-Radar/altosRadarRos
AND
altosRadarRos/src/altosradar/src/altosRadarParse.cpp at main · Altos-Radar/altosRadarRos
ROS2:
altosRadarRos2/src/altosradar/src/altosRadarParse.cpp at main · Altos-Radar/altosRadarRos2