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Package Summary
Tags | No category tags. |
Version | 0.0.1 |
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_tracks_msgs_converter
Additional Links
No additional links.
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
radar_tracks_msgs_converter
This package convert from radar_msgs/msg/RadarTracks into autoware_auto_perception_msgs/msg/DetectedObject and autoware_auto_perception_msgs/msg/TrackedObject.
- Calculation cost is O(n).
- n: The number of radar objects
Design
Input / Output
- 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_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware’s message. This is used for radar sensor fusion detection and radar detection. -
~/output/radar_tracked_objects
(autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware’s message. This is used for tracking layer sensor fusion.
-
Parameters
-
update_rate_hz
(double): The update rate [hz].- Default parameter is 20.0
-
new_frame_id
(string): The header frame of output topic.- Default parameter is “base_link”
-
use_twist_compensation
(bool): If the parameter is true, then the twist of output objects’ topic is compensated by ego vehicle motion.- Default parameter is “false”
Note
This package convert the label from radar_msgs/msg/RadarTrack.msg
to Autoware label.
Label id is defined as below.
RadarTrack | Autoware | |
---|---|---|
UNKNOWN | 32000 | 0 |
CAR | 32001 | 1 |
TRUCK | 32002 | 2 |
BUS | 32003 | 3 |
TRAILER | 32004 | 4 |
MOTORCYCLE | 32005 | 5 |
BICYCLE | 32006 | 6 |
PEDESTRIAN | 32007 | 7 |
- radar_msgs/msg/RadarTrack.msg: additional vendor-specific classifications are permitted starting from 32000.
- Autoware objects label
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
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/radar_tracks_msgs_converter.launch.xml
-
- input/radar_objects [default: input/radar_objects]
- input/odometry [default: /localization/kinematic_state]
- output/radar_detected_objects [default: output/radar_detected_objects]
- output/radar_tracked_objects [default: output/radar_tracked_objects]
- update_rate_hz [default: 20.0]
- use_twist_compensation [default: false]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged radar_tracks_msgs_converter at Robotics Stack Exchange
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