radar_tracks_msgs_converter

This package converts from radar_msgs/msg/RadarTracks into autoware_perception_msgs/msg/DetectedObject and autoware_perception_msgs/msg/TrackedObject.

• Calculation cost is O(n).
  • n: The number of radar objects

Design

Background

Autoware uses radar_msgs/msg/RadarTracks.msg as radar objects input data. To use radar objects data for Autoware perception module easily, radar_tracks_msgs_converter converts message type from radar_msgs/msg/RadarTracks.msg to autoware_perception_msgs/msg/DetectedObject. In addition, because many detection module have an assumption on base_link frame, radar_tracks_msgs_converter provide the functions of transform frame_id.

Note

Radar_tracks_msgs_converter converts the label from radar_msgs/msg/RadarTrack.msg to Autoware label. Label id is defined as below.

Additional vendor-specific classifications are permitted starting from 32000 in radar_msgs/msg/RadarTrack.msg. Autoware objects label is defined in ObjectClassification

Interface

Input

• ~/input/radar_objects (radar_msgs/msg/RadarTracks.msg)
  • Input radar topic
• ~/input/odometry (nav_msgs/msg/Odometry.msg)
  • Ego vehicle odometry topic

Output

• ~/output/radar_detected_objects (autoware_perception_msgs/msg/DetectedObject.idl)
  • DetectedObject topic converted to Autoware message.
  • This is used for radar sensor fusion detection and radar detection.
• ~/output/radar_tracked_objects (autoware_perception_msgs/msg/TrackedObject.idl)
  • TrackedObject topic converted to Autoware message.
  • This is used for tracking layer sensor fusion.

Parameters

Parameter Summary

{{ json_to_markdown(“perception/autoware_radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json”) }}

Parameter Description

• update_rate_hz (double) [hz]
  • Default parameter is 20.0

This parameter is update rate for the onTimer function. This parameter should be same as the frame rate of input topics.

• new_frame_id (string)
  • Default parameter is “base_link”

This parameter is the header frame_id of the output topic.

• use_twist_compensation (bool)
  • Default parameter is “true”

This parameter is the flag to use the compensation to linear of ego vehicle’s twist. If the parameter is true, then the twist of the output objects’ topic is compensated by the ego vehicle linear motion.

• use_twist_yaw_compensation (bool)
  • Default parameter is “false”

This parameter is the flag to use the compensation to yaw rotation of ego vehicle’s twist. If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.

• static_object_speed_threshold (float) [m/s]
  • Default parameter is 1.0

This parameter is the threshold to determine the flag is_stationary. If the velocity is lower than this parameter, the flag is_stationary of DetectedObject is set to true and dealt as a static object.

Changelog for package autoware_radar_tracks_msgs_converter

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)
• chore: refine maintainer list (#10110)
  • chore: remove Miura from maintainer

  * chore: add Taekjin-san to perception_utils package maintainer ---------

• Contributors: Fumiya Watanabe, Shunsuke Miura, 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)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• fix(autoware_radar_tracks_msgs_converter): fix bugprone-reserved-identifier (#9658) fix: bugprone-error
• Contributors: Fumiya Watanabe, kobayu858

0.40.0 (2024-12-12)

• 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)
• 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, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• 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, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix(docs): fix docs for radar tracks msgs converter (#8305)
  • fix docs for radar tracks msgs converter

  * fix a not correctly formatted link in readme found by CI ---------

• refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware_ (#8173)
  • refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter
  • refactor: rename simple_object_merger package to autoware_simple_object_merger

  * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter ---------

• Contributors: Taekjin LEE, Yutaka Kondo, Yuxuan Liu

0.26.0 (2024-04-03)