FMCW Radar Object Detection Message

This message defines the format for describing objects detected by an FMCW radar. It is intended to be used as part of a stamped or array message, providing a comprehensive representation of tracked objects.

Note: All variables below are relative to the radar's frame of reference. The z component of position, velocity, acceleration, and size fields is ignored for 2D tracking.

Object Classifications

The following classifications are defined for objects. Additional vendor-specific classifications are permitted starting from 32000 (e.g., Car).

uint16 NO_CLASSIFICATION=0
uint16 STATIC=1
uint16 DYNAMIC=2

Message Fields

• unique_identifier_msgs/UUID uuid: A unique ID of the object generated by the radar.
• geometry_msgs/Point position: x, y, z coordinates of the centroid of the object being tracked.
• geometry_msgs/Vector3 velocity: The velocity of the object in each spatial dimension.
• geometry_msgs/Vector3 acceleration: The acceleration of the object in each spatial dimension.
• geometry_msgs/Vector3 size: The object size in the sensor frame. For example, length, width, and height, or the diameter of an ellipsoid in the x, y, z dimensions.
• uint16 classification: An optional classification of the object (see above).
• float32[6] position_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's position.
• float32[6] velocity_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's velocity.
• float32[6] acceleration_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's acceleration.
• float32[6] size_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's size.

Usage Notes

This message format provides a standardized way to represent FMCW radar object detections. When using this message, you need to populate the fields with specific values based on the actual radar data.