feat(autoware_perception_msgs): implement the proposed universal radar messages

autoware_perception_msgs/CMakeLists.txt

@@ -13,6 +13,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PredictedObjectKinematics.msg"
   "msg/PredictedObjects.msg"
   "msg/PredictedPath.msg"
+  "msg/RadarFieldInfo.msg"
+  "msg/RadarInfo.msg"
+  "msg/RadarObject.msg"
+  "msg/RadarObjects.msg"
   "msg/Shape.msg"
   "msg/TrackedObject.msg"
   "msg/TrackedObjectKinematics.msg"

autoware_perception_msgs/msg/ObjectClassification.msg

@@ -6,6 +6,10 @@ uint8 TRAILER = 4
 uint8 MOTORCYCLE = 5
 uint8 BICYCLE = 6
 uint8 PEDESTRIAN = 7
+uint8 ANIMAL = 8
+uint8 HAZARD = 9
+uint8 OVER_DRIVABLE = 10
+uint8 UNDER_DRIVABLE = 11
 
 uint8 label
 float32 probability

autoware_perception_msgs/msg/RadarFieldInfo.msg

@@ -0,0 +1,8 @@
+std_msgs/String field_name
+bool min_value_available
+bool max_value_available
+bool resolution_available
+
+float32 min_value
+float32 max_value
+float32 resolution

autoware_perception_msgs/msg/RadarInfo.msg

@@ -0,0 +1,6 @@
+std_msgs/Header header
+RadarFieldInfo[] object_fields_info
+RadarFieldInfo[] detection_fields_info
+
+uint32[] available_classes
+bool absolute_dynamics # absolute or relative dynamics

autoware_perception_msgs/msg/RadarObject.msg

@@ -0,0 +1,35 @@
+float32 INVALID_COV_VALUE = -1.0
+
+uint8 MEASUREMENT_STATUS_INVALID = 0
+uint8 MEASUREMENT_STATUS_MEASURED = 1
+uint8 MEASUREMENT_STATUS_PREDICTED = 2
+uint8 MEASUREMENT_STATUS_NEW = 3
+uint8 MEASUREMENT_STATUS_UNKNOWN = 4
+
+uint8 MOVEMENT_STATUS_INVALID = 0
+uint8 MOVEMENT_STATUS_DYNAMIC = 1
+uint8 MOVEMENT_STATUS_STATIC = 2
+uint8 MOVEMENT_STATUS_UNKNOWN = 3
+
+uint32 object_id
+uint16 age
+uint8 measurement_status
+uint8 movement_status
+
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+geometry_msgs/Vector3 size
+
+float32[6] position_covariance
+float32[6] velocity_covariance
+float32[6] acceleration_covariance
+float32[6] size_covariance
+
+float32 orientation
+float32 orientation_std
+float32 orientation_rate
+float32 orientation_rate_std
+
+float32 existence_probability
+ObjectClassification[] classifications

autoware_perception_msgs/msg/RadarObjects.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+RadarObject[] objects

autoware_sensing_msgs/CMakeLists.txt

@@ -6,7 +6,8 @@ ament_auto_find_build_dependencies()
 
 set(msg_files
   "msg/GnssInsOrientation.msg"
-  "msg/GnssInsOrientationStamped.msg")
+  "msg/GnssInsOrientationStamped.msg"
+)
 
 set(msg_dependencies
   geometry_msgs