FMCW Radar Object Detection Message

This message defines a standard format for reporting object detections from an FMCW radar sensor. This message is intended to be used within a stamped or array message for time synchronization and organization.

Message Fields

unique_identifier_msgs/UUID uuid:

• A unique ID assigned to the detected object by the radar.
  • Example: Generate using a UUID library.

geometry_msgs/Point position:

• x, y, z coordinates of the object's centroid in the radar's frame of reference.
• Note: For 2D tracking, the z component is ignored.
• Example: [10.2, 5.5, 0.0] (meters)

geometry_msgs/Vector3 velocity:

• Object's velocity vector in the radar's frame of reference (x, y, z components).
  • Example: [2.0, 0.8, 0.0] (meters/second)

geometry_msgs/Vector3 acceleration:

• Object's acceleration vector in the radar's frame of reference (x, y, z components).
  • Optional: Only include if the radar provides acceleration measurements.
  • Example: [0.5, -0.2, 0.0] (meters/second^2)

geometry_msgs/Vector3 size:

• Object's dimensions in the radar's frame of reference.
  • Interpretation depends on object shape (e.g., length, width, height, or diameter of an ellipsoid).
  • Example: [1.5, 0.8, 1.2] (meters)

uint16 classification:

• Classification of the detected object.
• Use the following standard classifications:
  • NO_CLASSIFICATION = 0
  • STATIC = 1
  • DYNAMIC = 2
• Vendor-specific classifications are permitted starting from 32000.
  • Example: DYNAMIC or 32001 (vendor-specific classification for 'Car')

float32[6] position_covariance:

• 6-element array representing the upper triangle of the 3x3 covariance matrix for the object's position (xx, xy, xz, yy, yz, zz).
  • Reflects uncertainty in position measurement.
  • Example: [0.1, 0.05, 0.0, 0.08, 0.02, 0.01]

float32[6] velocity_covariance:

• 6-element array representing the upper triangle of the 3x3 covariance matrix for the object's velocity (xx, xy, xz, yy, yz, zz).
  • Reflects uncertainty in velocity measurement.
  • Example: [0.05, 0.01, 0.0, 0.03, 0.005, 0.002]

float32[6] acceleration_covariance:

• 6-element array representing the upper triangle of the 3x3 covariance matrix for the object's acceleration (xx, xy, xz, yy, yz, zz).
  • Reflects uncertainty in acceleration measurement.
  • Optional: Only include if acceleration is provided.
  • Example: [0.02, 0.005, 0.0, 0.01, 0.002, 0.001]

float32[6] size_covariance:

• 6-element array representing the upper triangle of the 3x3 covariance matrix for the object's size (xx, xy, xz, yy, yz, zz).
  • Reflects uncertainty in size measurement.
  • Example: [0.08, 0.02, 0.0, 0.05, 0.01, 0.005]