This package is revised based on customized ROS package developed by Leo Zhang and add the obstacle detection part.
Add a Radius Outlier Removal Filter and Hungarian Algorithm based filter designed by myself, and publish point cloud data as PointCloud2 with velocity information.
Adopt DBscan to group points and extract objects radius, position and velocity.
Show objects' position and velocity in Rviz and publish object information.
To better use the radar and ROS package on mobile vehicle or robots, add listerner for odometry, calculate and visualize position of object in world frame.