radar_tracks_msgs_converter: Convert Radar Data to Autoware Tracked Objects

This package converts from 'radar_msgs/msg/RadarTracks' into '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_objects ('autoware_auto_perception_msgs/msg/TrackedObject.msg'): The topic converted to Autoware's message

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'