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 radar_static_pointcloud_filter radar_static_pointcloud_filter.launch
Algorithm
