FMCW Radar Object Detection Message

This message defines a standard format for FMCW radar object detection data within the Robot Operating System (ROS). It is intended to be used as part of a stamped or array message.

Note: All variables below are relative to the radar's frame of reference. The z component of position, velocity, acceleration, and size fields is ignored for 2D tracking.

Message Fields

• unique_identifier_msgs/UUID uuid: A unique ID of the object generated by the radar.
• 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 below).
• float32[6] position_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's position.
• float32[6] velocity_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's velocity.
• float32[6] acceleration_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's acceleration.
• float32[6] size_covariance: Upper-triangle covariance matrix about the x, y, z axes of the object's size.

Object Classifications

• uint16 NO_CLASSIFICATION=0: No classification assigned.
• uint16 STATIC=1: Object is classified as static.
• uint16 DYNAMIC=2: Object is classified as dynamic.

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

Usage Example

This message can be used in ROS nodes for publishing and subscribing to FMCW radar object detection data. It provides a standardized format that facilitates interoperability between different ROS packages and systems.