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autoware_radar_object_tracker package from autoware_universe repo

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autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Do tracking radar object

Additional Links

No additional links.

Maintainers

  • Yoshi Ri
  • Yukihiro Saito
  • Taekjin Lee

Authors

No additional authors.
perception/autoware_radar_object_tracker/README.md

autoware_radar_object_tracker

Purpose

This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.

Inner-workings / Algorithms

This radar object tracker is a combination of data association and tracking algorithms.

Data Association

The data association algorithm matches detected objects to existing tracks.

Tracker Models

The tracker models used in this package vary based on the class of the detected object. See more details in the models.md.

Inputs / Outputs

Input

Name Type Description
~/input autoware_perception_msgs::msg::DetectedObjects Detected objects
/vector/map autoware_map_msgs::msg::LaneletMapBin Map data

Output

Name Type Description
~/output autoware_perception_msgs::msg::TrackedObjects Tracked objects

Parameters

Node Parameters

Name Type Default Value Description
publish_rate double 10.0 The rate at which to publish the output messages
world_frame_id string “map” The frame ID of the world coordinate system
enable_delay_compensation bool false Whether to enable delay compensation. If set to true, output topic is published by timer with publish_rate.
tracking_config_directory string ”./config/tracking/” The directory containing the tracking configuration files
enable_logging bool false Whether to enable logging
logging_file_path string “/tmp/association_log.json” The path to the file where logs should be written
tracker_lifetime double 1.0 The lifetime of the tracker in seconds
use_distance_based_noise_filtering bool true Whether to use distance based filtering
minimum_range_threshold double 70.0 Minimum distance threshold for filtering in meters
use_map_based_noise_filtering bool true Whether to use map based filtering
max_distance_from_lane double 5.0 Maximum distance from lane for filtering in meters
max_angle_diff_from_lane double 0.785398 Maximum angle difference from lane for filtering in radians
max_lateral_velocity double 5.0 Maximum lateral velocity for filtering in m/s
can_assign_matrix array   An array of integers used in the data association algorithm
max_dist_matrix array   An array of doubles used in the data association algorithm
max_area_matrix array   An array of doubles used in the data association algorithm
min_area_matrix array   An array of doubles used in the data association algorithm
max_rad_matrix array   An array of doubles used in the data association algorithm
min_iou_matrix array   An array of doubles used in the data association algorithm

See more details in the models.md.

Tracker parameters

Currently, this package supports the following trackers:

  • linear_motion_tracker
  • constant_turn_rate_motion_tracker

Default settings for each tracker are defined in the ./config/tracking/, and described in models.md.

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_radar_object_tracker

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(cpplint): include what you use - perception (#9569)
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946)
  • refactor(kalman_filter): prefix package and namespace with autoware (#7787)
    • refactor(kalman_filter): prefix package and namespace with autoware
    • move headers to include/autoware/

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_radar_object_tracker): fix redundantInitialization (#8227)
    • fix(autoware_radar_object_tracker): fix redundantInitialization

    * Update perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>> ---------Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>>

  • fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (#8137)
    • fix: cppcheck knownConditionTrueFalse
    • fix

    * fix

  • fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (#8015) fix:funcArgNamesDifferent
  • fix(autoware_radar_object_tracker): fix shadowVariable (#7945) fix:shadowVariable
  • refactor(radar)!: add package name prefix of autoware_ (#7892)
    • refactor: rename radar_object_tracker
    • refactor: rename package from radar_object_tracker to autoware_radar_object_tracker
    • refactor: rename package from radar_object_clustering to autoware_radar_object_clustering
    • refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object
    • refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter
    • refactor: rename object_velocity_splitter to autoware_object_velocity_splitter
    • refactor: rename object_range_splitter to autoware_object_range_splitter

    * refactor: update readme ---------

  • Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/radar_object_tracker.launch.xml
      • input [default: /perception/object_recognition/detection/objects]
      • output [default: objects]
      • tracker_setting_path [default: $(find-pkg-share autoware_radar_object_tracker)/config/default_tracker.param.yaml]
      • data_association_matrix_path [default: $(find-pkg-share autoware_radar_object_tracker)/config/data_association_matrix.param.yaml]
      • radar_object_tracker_param_path [default: $(find-pkg-share autoware_radar_object_tracker)/config/radar_object_tracker.param.yaml]
      • vector_map_topic [default: /map/vector_map]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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