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 radar_static_pointcloud_filter radar_static_pointcloud_filter.launch

Algorithm