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radar_tracks_noise_filter package from autodrrt repo

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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_tracks_noise_filter

Additional Links

No additional links.

Maintainers

  • Sathshi Tanaka
  • Shunsuke Miura

Authors

  • Sathshi Tanaka
src/autodrrt.application/sensing/radar_tracks_noise_filter/README.md

radar_tracks_noise_filter

This package contains a radar object filter module for radar_msgs/msg/RadarTrack. This package can filter noise objects in RadarTracks.

Algorithm

The core algorithm of this package is RadarTrackCrossingNoiseFilterNode::isNoise() function. See the function and the parameters for details.

  • Y-axis threshold

Radar can detect x-axis velocity as doppler velocity, but cannot detect y-axis velocity. Some radar can estimate y-axis velocity inside the device, but it sometimes lack precision. In y-axis threshold filter, if y-axis velocity of RadarTrack is more than velocity_y_threshold, it treats as noise objects.

Input

Name Type Description
~/input/tracks radar_msgs/msg/RadarTracks.msg 3D detected tracks.

Output

Name Type Description
~/output/noise_tracks radar_msgs/msg/RadarTracks.msg Noise objects
~/output/filtered_tracks radar_msgs/msg/RadarTracks.msg Filtered objects

Parameters

Name Type Description Default value
velocity_y_threshold double Y-axis velocity threshold [m/s]. If y-axis velocity of RadarTrack is more than velocity_y_threshold, it treats as noise objects. 7.0
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
autoware_cmake
ament_cmake_auto
ament_lint_auto
autoware_lint_common
geometry_msgs
radar_msgs
rclcpp
rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/radar_tracks_noise_filter.launch.xml
      • input/tracks [default: ~/input/tracks]
      • output/noise_tracks [default: ~/output/noise_tracks]
      • output/filtered_tracks [default: ~/output/filtered_tracks]
      • velocity_y_threshold [default: 7.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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