FMCW Radar Object Tracking Message

This message is specifically designed for FMCW radar data and provides information about objects detected by the radar. All variables are relative to the radar's frame of reference. This message should not be used independently but as part of a stamped or array message.

Object Classifications

The following classifications are defined:

• NO_CLASSIFICATION (0): Object classification is unknown.
• STATIC (1): The object is stationary.
• DYNAMIC (2): The object is moving.

Additional vendor-specific classifications can be used starting from 32000.

Message Structure

unique_identifier_msgs/UUID uuid            # A unique ID of the object generated by the radar.

                                            # Note: The z component of these fields is ignored for 2D tracking.
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 about the x, y, z axes.
float32[6] velocity_covariance              # Upper-triangle covariance about the x, y, z axes.
float32[6] acceleration_covariance          # Upper-triangle covariance about the x, y, z axes.
float32[6] size_covariance                  # Upper-triangle covariance about the x, y, z axes.

Applications

This message is particularly useful in applications involving FMCW radar data, such as:

• Target Tracking: Tracking the movement of objects over time.
• Obstacle Avoidance: Identifying and avoiding obstacles in the environment.
• Autonomous Driving: Providing essential sensor data for self-driving vehicles.

The data contained within this message can be used to create robust and reliable solutions for these applications.