This message relates only to FMCW radar. All variables below are relative to the radar's frame of reference. This message is not meant to be used alone but as part of a stamped or array message.

Object classifications (Additional vendor-specific classifications are permitted starting from 32000 e.g. Car)

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

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.

This message is used to describe the position, velocity, acceleration, size, and other related information of objects detected by an FMCW radar. It can be used as part of a timestamped or array message to convey information about the objects detected by the radar. All variables in this message are relative to the radar's frame of reference. The classification field is optional and used to classify the detected objects.