Radar Tracks to Tracked Objects Converter for Autoware

This ROS package, 'radar_tracks_msgs_converter', converts radar object tracks from 'radar_msgs/msg/RadarTracks' into 'autoware_auto_perception_msgs/msg/TrackedObject' messages. The package is designed to seamlessly integrate radar data into Autoware's perception system. It transforms radar detected objects into Autoware's standardized 'TrackedObject' format. The package also supports compensating for object velocities based on the ego vehicle's motion, ensuring accurate tracking.

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 format.

Parameters:

• update_rate_hz (double): The update rate in Hertz (Hz). Default value is 20.0.
• new_frame_id (string): The header frame of the output topic. Default value is 'base_link'.
• use_twist_compensation (bool): If set to 'true', the twist of the output objects' topic is compensated based on ego vehicle motion. Default value is 'false'.

Calculation Cost:

The calculation cost is O(n), where 'n' is the number of radar objects. This ensures efficient processing even with a large number of radar detections.