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feat(autoware_perception_msgs): implement the proposed universal radar messages #120

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feat(autoware_perception_msgs): implement the proposed universal radar messages #120

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0e14a2e
feat: implemented the proposed universal radar messages
knzo25 Mar 3, 2025
a4fb146
chore: spells
knzo25 Mar 3, 2025
bfe493f
Update autoware_sensing_msgs/msg/RadarObject.msg
knzo25 Mar 25, 2025
c6b4f11
Update autoware_sensing_msgs/msg/RadarObject.msg
knzo25 Mar 25, 2025
1fc11e5
Update autoware_sensing_msgs/msg/RadarObject.msg
knzo25 Mar 25, 2025
d9728d4
chore: fixed compilation
knzo25 Mar 25, 2025
4e2f835
chore: moved the radar msgs to perception
knzo25 Mar 25, 2025
25ad092
feat: deleting radar classification in favor of the existing percepti…
knzo25 Mar 25, 2025
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8 changes: 7 additions & 1 deletion autoware_sensing_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -6,7 +6,13 @@ ament_auto_find_build_dependencies()

set(msg_files
"msg/GnssInsOrientation.msg"
"msg/GnssInsOrientationStamped.msg")
"msg/GnssInsOrientationStamped.msg"
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Could you put the parenthesis back up? To keep consistent.

"msg/RadarClassification.msg"
"msg/RadarFieldInfo.msg"
"msg/RadarInfo.msg"
"msg/RadarObject.msg"
"msg/RadarObjects.msg"
)

set(msg_dependencies
geometry_msgs
18 changes: 18 additions & 0 deletions autoware_sensing_msgs/msg/RadarClassification.msg
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@@ -0,0 +1,18 @@
# Common classes with autoware_perception_msgs/msg/ObjectClassification.msg
uint32 UNKNOWN = 0
uint32 CAR = 1
uint32 TRUCK = 2
uint32 BUS = 3
uint32 TRAILER = 4
uint32 MOTORCYCLE = 5
uint32 BICYCLE = 6
uint32 PEDESTRIAN = 7

# Radar specific classes
uint32 ANIMAL = 8
uint32 HAZARD = 9
uint32 OVER_DRIVABLE = 10
uint32 UNDER_DRIVABLE = 11

uint32 label
float32 probability
8 changes: 8 additions & 0 deletions autoware_sensing_msgs/msg/RadarFieldInfo.msg
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@@ -0,0 +1,8 @@
std_msgs/String field_name
bool min_value_available
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For the availability bools, I remember there was a discussion about using NaN (I guess the above suggestion by @xmfcx , using -1.0f may work for resolution, but it's a bit dangerous as requires the user to check an apparently irrelevant field for availability). I'm guessing having the bools as proposed is cleaner?

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Another way of doing this would be to use a field like
float32[<=1] min_value
which is functionally equivalent to an std::optional<float32>.
This would remove the need for the boolean field, and the user is forced to check if the value is present. Probably a bit ugly to use since it shows up as a dynamic bounded array, not an optional 🥲

bool max_value_available
bool resolution_available

float32 min_value
float32 max_value
float32 resolution
6 changes: 6 additions & 0 deletions autoware_sensing_msgs/msg/RadarInfo.msg
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@@ -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
35 changes: 35 additions & 0 deletions autoware_sensing_msgs/msg/RadarObject.msg
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@@ -0,0 +1,35 @@
float32 INVALID_COV_VALUE = 100000000.0

uint8 MEASUREMENT_STATUS_MEASURED = 0
uint8 MEASUREMENT_STATUS_PREDICTED = 1
uint8 MEASUREMENT_STATUS_NEW = 2
uint8 MEASUREMENT_STATUS_UNKNOWN = 3
uint8 MEASUREMENT_STATUS_INVALID = 255
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Not sure if these values are chosen for backward compatibility, but e.g. Protobuf recommends to make 0 the invalid option such that any zero-initialized message is invalid by default.

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Addressed in d9728d4


uint8 MOVEMENT_STATUS_DYNAMIC = 0
uint8 MOVEMENT_STATUS_STATIC = 1
uint8 MOVEMENT_STATUS_UNKNOWN = 2
uint8 MOVEMENT_STATUS_INVALID = 255

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 shape

float32[6] position_cov
float32[6] velocity_cov
float32[6] acceleration_cov
float32[6] shape_cov

float32 orientation
float32 orientation_std
float32 orientation_rate
float32 orientation_rate_std

float32 existence_probability
RadarClassification[] classifications
2 changes: 2 additions & 0 deletions autoware_sensing_msgs/msg/RadarObjects.msg
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@@ -0,0 +1,2 @@
std_msgs/Header header
RadarObject[] objects