From 8566729e2e48e0d4a0ec887f2434196c98837f70 Mon Sep 17 00:00:00 2001 From: PawelLiberadzki <44069826+PawelLiberadzki@users.noreply.github.com> Date: Thu, 13 Jun 2024 11:42:38 +0200 Subject: [PATCH] Update documentation on radar ROS 2 messages. (#316) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Paweł Liberadzki --- docs/Components/Sensors/RadarSensor/index.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/docs/Components/Sensors/RadarSensor/index.md b/docs/Components/Sensors/RadarSensor/index.md index f1debae6f..0ac3534c9 100644 --- a/docs/Components/Sensors/RadarSensor/index.md +++ b/docs/Components/Sensors/RadarSensor/index.md @@ -93,6 +93,20 @@ Example of how to get XYZ point cloud data: rglOutSubgraph.GetResultData(ref xyz); ``` +#### ROS 2 topic content + +RadarSensor uses `RglLidarPublisher` for publishing two types of ROS 2 messages: + +- [sensor_msgs/PointCloud2](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html) +- [radar_msgs/RadarScan](http://docs.ros.org/en/noetic/api/radar_msgs/html/msg/RadarScan.html) + +The content of these messages is presented in the table below. + +| Message type | Data which the message has | Comment | +|:-------------|:--------------------------------|:--------| +| PointCloud2 | Position
Radial speed
Power
RCS
Noise
SNR | Calculated in Radar node from RGL | +| RadarScan | Range
Azimuth
Elevation
Radial speed
Amplitude | Calculated in Radar node from RGL | + ## Example On the screenshot below (scene `RadarSceneDevelopSample`) radar detections are shown as blue boxes.