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<ul class="md-nav__list">

<li class="md-nav__item">
<a href="#input-output" class="md-nav__link">
Input / Output
<a href="#background" class="md-nav__link">
Background
</a>

</li>

<li class="md-nav__item">
<a href="#parameters" class="md-nav__link">
Parameters
<a href="#note" class="md-nav__link">
Note
</a>

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</li>

<li class="md-nav__item">
<a href="#note" class="md-nav__link">
Note
<a href="#interface" class="md-nav__link">
Interface
</a>

<nav class="md-nav" aria-label="Interface">
<ul class="md-nav__list">

<li class="md-nav__item">
<a href="#input" class="md-nav__link">
Input
</a>

</li>

<li class="md-nav__item">
<a href="#output" class="md-nav__link">
Output
</a>

</li>

<li class="md-nav__item">
<a href="#parameters" class="md-nav__link">
Parameters
</a>

</li>

</ul>
</nav>

</li>

</ul>
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</li>
</ul>
<h2 id="design">Design<a class="headerlink" href="#design" title="Permanent link">#</a></h2>
<h3 id="input-output">Input / Output<a class="headerlink" href="#input-output" title="Permanent link">#</a></h3>
<ul>
<li>Input<ul>
<li><code>~/input/radar_objects</code> (radar_msgs/msg/RadarTracks.msg): Input radar topic</li>
<li><code>~/input/odometry</code> (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic</li>
</ul>
</li>
<li>Output<ul>
<li><code>~/output/radar_detected_objects</code> (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware's message. This is used for radar sensor fusion detection and radar detection.</li>
<li><code>~/output/radar_tracked_objects</code> (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware's message. This is used for tracking layer sensor fusion.</li>
</ul>
</li>
</ul>
<h3 id="parameters">Parameters<a class="headerlink" href="#parameters" title="Permanent link">#</a></h3>
<ul>
<li><code>update_rate_hz</code> (double): The update rate [hz].<ul>
<li>Default parameter is 20.0</li>
</ul>
</li>
<li><code>new_frame_id</code> (string): The header frame of the output topic.<ul>
<li>Default parameter is "base_link"</li>
</ul>
</li>
<li><code>use_twist_compensation</code> (bool): If the parameter is true, then the twist of the output objects' topic is compensated by ego vehicle motion.<ul>
<li>Default parameter is "true"</li>
</ul>
</li>
<li><code>use_twist_yaw_compensation</code> (bool): If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.<ul>
<li>Default parameter is "false"</li>
</ul>
</li>
<li><code>static_object_speed_threshold</code> (float): Specify the threshold for static object speed which determines the flag <code>is_stationary</code> [m/s].<ul>
<li>Default parameter is 1.0</li>
</ul>
</li>
</ul>
<h2 id="note">Note<a class="headerlink" href="#note" title="Permanent link">#</a></h2>
<p>This package convert the label from <code>radar_msgs/msg/RadarTrack.msg</code> to Autoware label.
<h3 id="background">Background<a class="headerlink" href="#background" title="Permanent link">#</a></h3>
<p>Autoware uses <a href="https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg">radar_msgs/msg/RadarTracks.msg</a> as radar objects input data.
To use radar objects data for Autoware perception module easily, <code>radar_tracks_msgs_converter</code> converts message type from <code>radar_msgs/msg/RadarTracks.msg</code> to <code>autoware_auto_perception_msgs/msg/DetectedObject</code>.
In addition, because many detection module have an assumption on base_link frame, <code>radar_tracks_msgs_converter</code> provide the functions of transform frame_id.</p>
<h3 id="note">Note<a class="headerlink" href="#note" title="Permanent link">#</a></h3>
<p><code>Radar_tracks_msgs_converter</code> converts the label from <code>radar_msgs/msg/RadarTrack.msg</code> to Autoware label.
Label id is defined as below.</p>
<table>
<thead>
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</tr>
</tbody>
</table>
<p>Additional vendor-specific classifications are permitted starting from 32000 in <a href="https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg">radar_msgs/msg/RadarTrack.msg</a>.
Autoware objects label is defined in <a href="https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl">ObjectClassification.idl</a></p>
<h2 id="interface">Interface<a class="headerlink" href="#interface" title="Permanent link">#</a></h2>
<h3 id="input">Input<a class="headerlink" href="#input" title="Permanent link">#</a></h3>
<ul>
<li><code>~/input/radar_objects</code> (<code>radar_msgs/msg/RadarTracks.msg</code>)<ul>
<li>Input radar topic</li>
</ul>
</li>
<li><code>~/input/odometry</code> (<code>nav_msgs/msg/Odometry.msg</code>)<ul>
<li>Ego vehicle odometry topic</li>
</ul>
</li>
</ul>
<h3 id="output">Output<a class="headerlink" href="#output" title="Permanent link">#</a></h3>
<ul>
<li><a href="https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg">radar_msgs/msg/RadarTrack.msg</a>: additional vendor-specific classifications are permitted starting from 32000.</li>
<li><code>~/output/radar_detected_objects</code> (<code>autoware_auto_perception_msgs/msg/DetectedObject.idl</code>)<ul>
<li>DetectedObject topic converted to Autoware message.</li>
<li>This is used for radar sensor fusion detection and radar detection.</li>
</ul>
</li>
<li><code>~/output/radar_tracked_objects</code> (<code>autoware_auto_perception_msgs/msg/TrackedObject.idl</code>)<ul>
<li>TrackedObject topic converted to Autoware message.</li>
<li>This is used for tracking layer sensor fusion.</li>
</ul>
</li>
</ul>
<h3 id="parameters">Parameters<a class="headerlink" href="#parameters" title="Permanent link">#</a></h3>
<ul>
<li><a href="https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl">Autoware objects label</a></li>
</ul></div>
<li><code>update_rate_hz</code> (double) [hz]<ul>
<li>Default parameter is 20.0</li>
</ul>
</li>
</ul>
<p>This parameter is update rate for the <code>onTimer</code> function.
This parameter should be same as the frame rate of input topics.</p>
<ul>
<li><code>new_frame_id</code> (string)<ul>
<li>Default parameter is "base_link"</li>
</ul>
</li>
</ul>
<p>This parameter is the header frame_id of the output topic.</p>
<ul>
<li><code>use_twist_compensation</code> (bool)<ul>
<li>Default parameter is "true"</li>
</ul>
</li>
</ul>
<p>This parameter is the flag to use the compensation to linear of ego vehicle's twist.
If the parameter is true, then the twist of the output objects' topic is compensated by the ego vehicle linear motion.</p>
<ul>
<li><code>use_twist_yaw_compensation</code> (bool)<ul>
<li>Default parameter is "false"</li>
</ul>
</li>
</ul>
<p>This parameter is the flag to use the compensation to yaw rotation of ego vehicle's twist.
If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.</p>
<ul>
<li><code>static_object_speed_threshold</code> (float) [m/s]<ul>
<li>Default parameter is 1.0</li>
</ul>
</li>
</ul>
<p>This parameter is the threshold to determine the flag <code>is_stationary</code>.
If the velocity is lower than this parameter, the flag <code>is_stationary</code> of DetectedObject is set to <code>true</code> and dealt as a static object.</p></div>



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