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radar_threshold_filter package from autodrrt repo

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traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator 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v4l2_camera can_interface_custom cgi430_can_driver cgi610_driver ARS408_driver data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
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

radar_threshold_filter

Additional Links

No additional links.

Maintainers

  • Satoshi Tanaka
  • Shunsuke Miura

Authors

  • Satoshi Tanaka
src/autodrrt.application/sensing/radar_threshold_filter/README.md

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

  • For node parameter
Name Type Description
is_amplitude_filter bool if this parameter is true, apply amplitude filter (publish amplitude_min < amplitude < amplitude_max)
amplitude_min double [dBm^2]
amplitude_max double [dBm^2]
is_range_filter bool if this parameter is true, apply range filter (publish range_min < range < range_max)
range_min double [m]
range_max double [m]
is_azimuth_filter bool if this parameter is true, apply angle filter (publish azimuth_min < range < azimuth_max)
azimuth_min double [rad]
azimuth_max double [rad]
is_z_filter bool if this parameter is true, apply z position filter (publish z_min < z < z_max)
z_min double [m]
z_max double [m]

How to launch

ros2 launch radar_threshold_filter radar_threshold_filter.launch.xml
CHANGELOG
No CHANGELOG found.

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.

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
ament_clang_format
ament_lint_auto
ament_lint_common
radar_msgs
rclcpp
rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/radar_threshold_filter.launch.xml
      • input/radar [default: input/radar]
      • output/radar [default: output/threshold_filtered_radar]
      • config_file [default: $(find-pkg-share radar_threshold_filter)/config/radar_threshold_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged radar_threshold_filter at Robotics Stack Exchange

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