radar_scan_to_pointcloud2

radar_scan_to_pointcloud2_node

• Convert from radar_msgs::msg::RadarScan to sensor_msgs::msg::PointCloud2
• Calculation cost O(n)
  • n: The number of radar return

Input topics

Name	Type	Description
input/radar	radar_msgs::msg::RadarScan	RadarScan

Output topics

Name	Type	Description
output/amplitude_pointcloud	sensor_msgs::msg::PointCloud2	PointCloud2 radar pointcloud whose intensity is amplitude.
output/doppler_pointcloud	sensor_msgs::msg::PointCloud2	PointCloud2 radar pointcloud whose intensity is doppler velocity.

Parameters

Name	Type	Description
publish_amplitude_pointcloud	bool	Whether publish radar pointcloud whose intensity is amplitude. Default is true.
publish_doppler_pointcloud	bool	Whether publish radar pointcloud whose intensity is doppler velocity. Default is false.

How to launch

sh ros2 launch autoware_radar_scan_to_pointcloud2 radar_scan_to_pointcloud2.launch.xml