autoware_radar_objects_adapter

Purpose

This package converts autoware_sensing_msgs::msg::RadarObjects into autoware_perception_msgs::msg::DetectedObjects, acting as a simple integration of radars into the perception pipeline.

RadarObjectsAdapter

A node that converts radar objects from the sensing definition into a perception friendly format with no filtering involved.

Parameter: classification_remap

This parameter allows remapping of classification labels from autoware_sensing_msgs::msg::RadarClassification to autoware_perception_msgs::msg::ObjectClassification. It should be provided as a flat list of strings, where each pair of strings represents an input label and the corresponding output label.

For example, the current default configuration remaps MOTORCYCLE and BICYCLE from radar classification to CAR in the perception classification, while keeping other labels unchanged.

Note: If multiple radar labels are remapped to the same perception label, multiple probabilities may appear for that label. This does not violate any logic in Autoware but may be worth monitoring.

Inputs / Outputs

Input

Name	Type	Description
~/input/objects	autoware_sensing_msgs::msg::RadarObjects	Input radar objects as defined in sensing.
~/input/radar_info	autoware_sensing_msgs::msg::RadarInfo	Input radar info.

Output

Name	Type	Description
~/output/objects	autoware_perception_msgs::msg::DetectedObjects	Output radar objects in the perception format.

Parameters

Name	Type	Description	Default	Range
default_position_z	float	The default z-coordinate in meters of the position of radar objects in the case the radar does not provide it.	0.0	N/A
default_velocity_z	float	The default z-coordinate in meters per second of the velocity of radar objects in the case the radar does not provide it.	0.0	N/A
default_acceleration_z	float	The default z-coordinate in meters per squared second of the acceleration of radar objects in the case the radar does not provide it.	0.0	N/A
default_size_x	float	The default x-coordinate in meters of the size of radar objects in the case the radar does not provide it.	5.0	N/A
default_size_y	float	The default y-coordinate in meters of the size of radar objects in the case the radar does not provide it.	2.0	N/A
default_size_z	float	The default z-coordinate in meters of the size of radar objects in the case the radar does not provide it.	2.0	N/A
classification_remap.UNKNOWN	string	Radar class to map to UNKNOWN label.	UNKNOWN	N/A
classification_remap.CAR	string	Radar class to map to CAR label.	CAR	N/A
classification_remap.TRUCK	string	Radar class to map to TRUCK label.	TRUCK	N/A
classification_remap.MOTORCYCLE	string	Radar tends to misclassify far cars as MOTORCYCLE; default=CAR	CAR	N/A
classification_remap.BICYCLE	string	Radar tends to misclassify far cars as BICYCLE; default=CAR	CAR	N/A
classification_remap.PEDESTRIAN	string	Radar class to map to PEDESTRIAN label.	PEDESTRIAN	N/A
classification_remap.ANIMAL	string	Radar class to map to ANIMAL label.	ANIMAL	N/A
classification_remap.HAZARD	string	HAZARD is not a valid Perception label; fallback=UNKNOWN	UNKNOWN	N/A