diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch
index 10f79a80..67a9c2ab 100644
--- a/code/perception/launch/perception.launch
+++ b/code/perception/launch/perception.launch
@@ -79,4 +79,10 @@
     <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered"/>
     <param name="range_topic" value="/carla/hero/LIDAR_range"/>
   </node>
+
+  <node pkg="perception" type="radar_node.py" name="radar_node" output="screen">
+    <param name="point_cloud_topic" value="/carla/hero/RADAR_filtered"/>
+    <param name="range_topic" value="/carla/hero/RADAR_range"/>
+  </node>
+
 </launch>
diff --git a/code/perception/src/radar_node.py b/code/perception/src/radar_node.py
new file mode 100755
index 00000000..04a9d59b
--- /dev/null
+++ b/code/perception/src/radar_node.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+import rospy
+import ros_numpy
+import numpy as np
+from sensor_msgs.msg import PointCloud2
+from std_msgs.msg import Float32
+
+
+class RadarNode:
+    """See doc/perception/radar_node.md on
+    how to configure this node
+    """
+
+    def callback(self, data):
+        """Process radar Point2Cloud data and publish minimum velocity.
+
+        Extracts velocity information from radar data
+        and publishes the minimum velocity as a
+        Float32 message
+
+        Args:
+            data: Point2Cloud message containing radar data with velocity field
+        """
+
+        coordinates = ros_numpy.point_cloud2.pointcloud2_to_array(data)
+        msg = np.min(coordinates["Velocity"])
+        self.dist_array_radar_publisher.publish(msg)
+
+    def listener(self):
+        """
+        Initializes the node and it's publishers
+        """
+        # run simultaneously.
+        rospy.init_node("radar_node")
+
+        # publisher for radar dist_array
+        self.dist_array_radar_publisher = rospy.Publisher(
+            rospy.get_param("~image_distance_topic", "/paf/hero/Radar/velocity"),
+            Float32,
+            queue_size=10,
+        )
+
+        rospy.Subscriber(
+            rospy.get_param("~source_topic", "/carla/hero/RADAR"),
+            PointCloud2,
+            self.callback,
+        )
+
+        rospy.spin()
+
+
+if __name__ == "__main__":
+    radar_node = RadarNode()
+    radar_node.listener()
diff --git a/doc/perception/radar_node.md b/doc/perception/radar_node.md
new file mode 100644
index 00000000..26783bc2
--- /dev/null
+++ b/doc/perception/radar_node.md
@@ -0,0 +1,36 @@
+# Radar Node
+
+**Summary:** This page explains what the radar sensor does.
+
+- [Radar offsets](#radar-offsets)
+- [Radar specification](#radar-specification)
+- [Radar data output for each detected point](#radar-data-output-for-each-detected-point)
+- [Todo](#todo)
+
+## Radar offsets
+
+- x: 2
+- y: 0
+- z: 0.7
+
+## Radar specification
+
+- points per second: 1500 points generated by all lasers per second
+- maximum range: 100 meters
+- horizontal fov: 30 degrees
+- vertical fov: 30 degrees
+
+## Radar data output for each detected point
+
+- x
+- y
+- z
+- Range
+- Velocity
+- AzimuthAngle
+- ElevationAngle
+
+## Todo
+
+- Discuss further processing of radar data
+- Combine lidar, radar and camera data