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radar_scan_to_pointcloud2#

radar_scan_to_pointcloud2_node#

  • Convert from radar_msgs::msg::RadarScan to sensor_msgs::msg::PointCloud2
  • Calculation cost O(n)
    • n: The number of radar return

Input topics#

Name Type Description
input/radar radar_msgs::msg::RadarScan RadarScan

Output topics#

Name Type Description
output/amplitude_pointcloud sensor_msgs::msg::PointCloud2 PointCloud2 radar pointcloud whose intensity is amplitude.
output/doppler_pointcloud sensor_msgs::msg::PointCloud2 PointCloud2 radar pointcloud whose intensity is doppler velocity.

Parameters#

Name Type Description
publish_amplitude_pointcloud bool Whether publish radar pointcloud whose intensity is amplitude. Default is true.
publish_doppler_pointcloud bool Whether publish radar pointcloud whose intensity is doppler velocity. Default is false.

How to launch#

ros2 launch autoware_radar_scan_to_pointcloud2 radar_scan_to_pointcloud2.launch.xml