radar_static_pointcloud_filter
radar_static_pointcloud_filter_node
Extract static/dynamic radar pointcloud by using doppler velocity and ego motion.
Calculation cost is O(n). n
is the number of radar pointcloud.
Name |
Type |
Description |
input/radar |
radar_msgs::msg::RadarScan |
RadarScan |
input/odometry |
nav_msgs::msg::Odometry |
Ego vehicle odometry topic |
Output topics
Name |
Type |
Description |
output/static_radar_scan |
radar_msgs::msg::RadarScan |
static radar pointcloud |
output/dynamic_radar_scan |
radar_msgs::msg::RadarScan |
dynamic radar pointcloud |
Parameters
Name |
Type |
Description |
doppler_velocity_sd |
double |
Standard deviation for radar doppler velocity. [m/s] |
How to launch
ros2 launch autoware_radar_static_pointcloud_filter radar_static_pointcloud_filter.launch.xml
Algorithm
![algorithm](docs/radar_static_pointcloud_filter.drawio.svg)