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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.

Input topics#

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