Message format for RadarTrack (#3)

* Added message format for RadarTrack

* Spelling correction

* Altered classification to uint8

* Changed track_id to UUID and updated the description of 'size'

* Updated description of size to allow for better compatiablity of rectangle-shaped bounding boxes.

* Added covariance matrix

* Adjusted covariance format

* Altered notes for classification and size fields as per feedback on the pull request

* Making the size frame of reference explicit

* Added comment about that this message relating only to FMCW radar

* Added constants for object classification field

* Added new line to the end of the file

* Altered description and data type of classification and changed the covariance fields

* Updated types for object classification enums

* Added dependencies to CMakelists.txt and package.xml

Co-authored-by: AARON-FULTONZ\Aaron <[email protected]>

CMakeLists.txt

@@ -9,7 +9,9 @@ find_package(std_msgs REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RadarReturn.msg"
   "msg/RadarScan.msg"
-  DEPENDENCIES builtin_interfaces std_msgs
+  "msg/RadarTrack.msg"
+  "msg/RadarTracks.msg"
+  DEPENDENCIES builtin_interfaces std_msgs uuid_msgs geometry_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)

msg/RadarTrack.msg

@@ -0,0 +1,23 @@
+# 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 eg. Car)
+uint16 NO_CLASSIFICATION=0
+uint16 STATIC=1
+uint16 DYNAMIC=2
+
+
+uuid_msgs/UniqueID 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 as represented by the radar sensor eg. length, width, height OR the diameter of an ellipsoid in the x, y, z, dimensions
+                                            # and is from the sensor frame's view.
+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

msg/RadarTracks.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+radar_msgs/RadarTracks[] tracks

package.xml

@@ -10,6 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>std_msgs</depend>
+  <depend>uuid_msgs</depend>
+  <depend>geometry_msgs</depend>
   <depend>rosidl_default_generators</depend>
   <depend>builtin_interfaces</depend>