radar_threshold_filter

radar_threshold_filter_node

Remove noise from radar return by threshold.

• Amplitude filter: Low amplitude consider noise
• FOV filter: Pointcloud from radar's FOV edge occur perturbation
• Range filter: Too near pointcloud often occur noise

Calculation cost is O(n). n is the number of radar return.

Input topics

Name	Type	Description
input/radar	radar_msgs/msg/RadarScan.msg	Radar pointcloud data

Output topics

Name	Type	Description
output/radar	radar_msgs/msg/RadarScan.msg	Filtered radar pointcloud

Parameters

Name	Type	Description	Default	Range
node_params.is_amplitude_filter	boolean	If true, amplitude filtering is enabled.	true	N/A
node_params.amplitude_min	float	Minimum amplitude threshold.	-10.0	N/A
node_params.amplitude_max	float	Maximum amplitude threshold.	100.0	N/A
node_params.is_range_filter	boolean	If true, range filtering is enabled.	false	N/A
node_params.range_min	float	Minimum range threshold.	20.0	N/A
node_params.range_max	float	Maximum range threshold.	300.0	N/A
node_params.is_azimuth_filter	boolean	If true, azimuth filtering is enabled.	true	N/A
node_params.azimuth_min	float	Minimum azimuth threshold (radians).	-1.2	N/A
node_params.azimuth_max	float	Maximum azimuth threshold (radians).	1.2	N/A
node_params.is_z_filter	boolean	If true, Z filtering is enabled.	false	N/A
node_params.z_min	float	Minimum Z threshold (meters).	-2.0	N/A
node_params.z_max	float	Maximum Z threshold (meters).	5.0	N/A
node_params.max_queue_size	integer	Maximum size of the queue.	5	N/A

How to launch

ros2 launch autoware_radar_threshold_filter radar_threshold_filter.launch.xml