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feat: add radar tracks msgs converter #1012

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merged 10 commits into from
Jun 20, 2022
Merged

feat: add radar tracks msgs converter #1012

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1e41747
add radar_tracks_msgs_converter
scepter914 May 31, 2022
496497b
apply format
scepter914 May 31, 2022
0a161ff
apply format
scepter914 May 31, 2022
f2c1f8b
Merge branch 'main' into feature/radar_tracks_msgs_converter
scepter914 May 31, 2022
4c2f52e
fix compile error on autoware cmake
scepter914 May 31, 2022
16e0ace
fix namespace for cpplint
scepter914 May 31, 2022
479106a
fix for humble
scepter914 Jun 1, 2022
240f5dd
fix paramter copy
scepter914 Jun 20, 2022
605754a
update README
scepter914 Jun 20, 2022
4c834ef
add RadarTrackObjectID enum class
scepter914 Jun 20, 2022
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update README 
Signed-off-by: scepter914 <scepter914@gmail.com>
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scepter914 committed Jun 20, 2022
commit 605754a4b028b6a48e4faee2b04ef585a92c2258
19 changes: 19 additions & 0 deletions perception/radar_tracks_msgs_converter/README.md
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Expand Up @@ -23,3 +23,22 @@ This package convert from [radar_msgs/msg/RadarTracks](https://github.com/ros-pe
- 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](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg): additional vendor-specific classifications are permitted starting from 32000.
- [Autoware objects label](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl)