radar_static_pointcloud_filter#
radar_static_pointcloud_filter_node#
Extract static/dynamic radar pointcloud by using doppler velocity and ego motion.
Calculation cost is O(n). n is the number of radar pointcloud.
Input topics#
| Name | Type | Description |
|---|---|---|
| input/radar | radar_msgs::msg::RadarScan | RadarScan |
| input/odometry | nav_msgs::msg::Odometry | Ego vehicle odometry topic |
Output topics#
| Name | Type | Description |
|---|---|---|
| output/static_radar_scan | radar_msgs::msg::RadarScan | static radar pointcloud |
| output/dynamic_radar_scan | radar_msgs::msg::RadarScan | dynamic radar pointcloud |
Parameters#
| Name | Type | Description |
|---|---|---|
| doppler_velocity_sd | double | Standard deviation for radar doppler velocity. [m/s] |
How to launch#
ros2 launch radar_static_pointcloud_filter radar_static_pointcloud_filter.launch
Algorithm#
