ApolloAuto/apollo

radar rostopic question

Closed this issue · 2 comments

freeclouds commented

code version: apollo 3.0
about module: radar perception
Dear apollo developer,
we want to use other measuring distance sensor ,such as camera,to substitute continental ARS408-21 77GHz radar,
we print radar topic: /apollo/sensor/conti_radar
such as:
contiobs {
header {
timestamp_sec: 1523917535.98
module_name: "conti_radar"
sequence_num: 16614
}
clusterortrack: false
obstacle_id: 1
longitude_dist: 227.4
lateral_dist: -4.8
longitude_vel: -19.75
lateral_vel: -0.5
rcs: 7.0
dynprop: 2
longitude_dist_rms: 0.616
lateral_dist_rms: 1.317
longitude_vel_rms: 0.478
lateral_vel_rms: 1.697
probexist: 1.0
meas_state: 2
longitude_accel: -0.78
lateral_accel: 0.0
oritation_angle: -3.2
longitude_accel_rms: 1.023
lateral_accel_rms: 0.005
oritation_angle_rms: 0.471
length: 4.4
width: 1.8
obstacle_class: 1
}
we find the topic include "obstacle_class",trace the source code we find that in protobuf have define seven obstacle class,such as:
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown
optional int32 obstacle_class = 24;
the radar topic: /apollo/sensor/conti_radar contain obstacle class ,
is continental ARS408-21 77GHz radar output obstacle class?

daohu527 commented

Seems to be resolved, we will close this issue. If the problem persists, pls feel free to reopen it or create a new one and refer to it.