Adding the ARSPointCloudFilter node in the Radar ROS2 Pipeline #19
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src/sensor_interfacing/ARSPointCloudFilter/include/ars_pointcloud_filter.hpp
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src/sensor_interfacing/ARSPointCloudFilter/src/ars_pointcloud_filter.cpp
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src/sensor_interfacing/ARSPointCloudFilter/include/ars_pointcloud_filter_node.hpp
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src/sensor_interfacing/ARSPointCloudFilter/include/ars_pointcloud_filter.hpp
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src/sensor_interfacing/ContinentalPointCloudFilter/CMakeLists.txt
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src/sensor_interfacing/ContinentalPointCloudFilter/CMakeLists.txt
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src/sensor_interfacing/ContinentalPointCloudFilter/CMakeLists.txt
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| ENTRYPOINT ["/usr/local/bin/fixuid", "-q", "/home/docker/wato_ros_entrypoint.sh"] | ||
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| CMD ["tail", "-f", "/dev/null"] |
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Command should run the relevant ROS node or launch file
| /** | ||
| * @brief Variables only used for common scan filter. | ||
| */ | ||
| scan_params near_scan_single_; |
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Nit: near_scan_single_ sounds redundant since a near scan is one scan, try near_scan_ instead and rename the array to near_scane_buffer_.
| * @brief A ROS2 subscription node callback used to unpack raw ARS radar data from the "unfilteredRadarRight" | ||
| * topic. | ||
| * | ||
| * @param msg a raw message from the "unfilteredRadarRight" topic |
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Make sure the topic name you mention here is the one you are actually listening to.
| #include "radar_msgs/msg/radar_packet.hpp" | ||
| #include "radar_msgs/msg/radar_detection.hpp" | ||
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| namespace filtering |
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This namespace is generic, it could apply to any other sensor driver or perception. It could be renamed to continental_driver. Some ideas for how some companies standardize namespacing,
| if (near_scan_[buffer_index_].packet_count_ != near_scan_capacity_ || | ||
| far_scan_[buffer_index_].packet_count_ != far_scan_capacity_) | ||
| { | ||
| RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Incomplete total packet count! Not 30.\n"); |
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Nit: Warning could provide more information to the user, i.e. Received incomplete radar packet with %d messages, expected 30.
Adding a ROS2 node that filters and publishes radar detections (near scan and far scan) from the Continental ARS430 radar sensor for visualization and object detection in the Radar ROS2 Pipeline. Please refer to the figure below for more details.
Note: When testing the node, about 38 tests will get executed. This includes all the unit tests for the filters as well.
ClickUp Task: Radar ROS2 Pipeline
(Migrate the ROS1 code for the old continental driver to ROS2 and support inference with CenterFusion and visualization of pointclouds/bounding boxes in RViz)