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radar_tracks_msgs_converter#

This package convert from radar_msgs/msg/RadarTracks into autoware_auto_perception_msgs/msg/DetectedObject and autoware_auto_perception_msgs/msg/TrackedObject.

  • Calculation cost is O(n).
    • n: The number of radar objects

Design#

Input / Output#

  • Input
    • ~/input/radar_objects (radar_msgs/msg/RadarTracks.msg): Input radar topic
    • ~/input/odometry (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic
  • Output
    • ~/output/radar_detected_objects (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware's message. This is used for radar sensor fusion detection and radar detection.
    • ~/output/radar_tracked_objects (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware's message. This is used for tracking layer sensor fusion.

Parameters#

  • update_rate_hz (double): The update rate [hz].
    • Default parameter is 20.0
  • new_frame_id (string): The header frame of output topic.
    • Default parameter is "base_link"
  • use_twist_compensation (bool): If the parameter is true, then the twist of output objects' topic is compensated by ego vehicle motion.
    • Default parameter is "false"

Note#

This package convert the label from radar_msgs/msg/RadarTrack.msg to Autoware label. Label id is defined as below.

RadarTrack Autoware
UNKNOWN 32000 0
CAR 32001 1
TRUCK 32002 2
BUS 32003 3
TRAILER 32004 4
MOTORCYCLE 32005 5
BICYCLE 32006 6
PEDESTRIAN 32007 7