This PR adds new custom message types for radar tracked objects which include the following:
RadarTrackedObject
RadarTrackedObjectStamped
RadarTrackedObjectArray
where the first of these messages contains information relevant for a single tracked object output from the radar (or offboard tracking algorithm):
RadarTrackedObject:
RadarTarget target # Object information in spherical coordinates
geometry_msgs/Pose pose # Cartesian position and orientation
geometry_msgs/Twist velocity # Cartesian linear and angular velocity (twist)
BoundingBox box # Bounding box of associated raw detections
The purpose of having both spherical tracked object information (in the form of a RadarTarget) and Cartesian frame tracked object information (in the form of a Pose + Twist) is to support both types of tracking output.
Overview
This PR adds new custom message types for radar tracked objects which include the following:
where the first of these messages contains information relevant for a single tracked object output from the radar (or offboard tracking algorithm):
RadarTrackedObject:
The purpose of having both spherical tracked object information (in the form of a RadarTarget) and Cartesian frame tracked object information (in the form of a Pose + Twist) is to support both types of tracking output.
Testing