def METHOD_NAME(CP) -> CANParser:
  msg_n = len(DELPHI_ESR_RADAR_MSGS)
  signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                     DELPHI_ESR_RADAR_MSGS * 3))
  checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
  return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar)