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.

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	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	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	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	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	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	N/A