Radar and ROS1

[risk-v]

Hi there,

I was wondering if it's possible to use the radar sensor with ROS1. I can see the radar 3D bounding boxes in LGSVL but when I tried "rostopic echo /radar" (/radar is my chosen topic using the Wise interface) the output it's empty. I am using LGSVL 2021.2. Thanks in advance.

[MaxandreOgeret]

Last time I checked radar was not working properly. https://github.com/lgsvl/simulator/issues/1530

[EricBoiseLGSVL]

radar is supported, search DetectedRadarObjectData in the code. In RosConversions.cs

public static Lgsvl.DetectedRadarObjectArray RosConvertFrom(DetectedRadarObjectData data)
        {
            var r = new Lgsvl.DetectedRadarObjectArray()
            {
                header = new Ros.Header()
                {
                    stamp = ConvertTime(data.Time),
                    seq = data.Sequence,
                    frame_id = data.Frame,
                },
            };

            foreach (var obj in data.Data)
            {
                r.objects.Add(new Lgsvl.DetectedRadarObject()
                {
                    sensor_aim = ConvertToRosVector3(obj.SensorAim),
                    sensor_right = ConvertToRosVector3(obj.SensorRight),
                    sensor_position = ConvertToRosPoint(obj.SensorPosition),
                    sensor_velocity = ConvertToRosVector3(obj.SensorVelocity),
                    sensor_angle = obj.SensorAngle,
                    object_position = ConvertToRosPoint(obj.Position),
                    object_velocity = ConvertToRosVector3(obj.Velocity),
                    object_relative_position = ConvertToRosPoint(obj.RelativePosition),
                    object_relative_velocity = ConvertToRosVector3(obj.RelativeVelocity),
                    object_collider_size = ConvertToRosVector3(obj.ColliderSize),
                    object_state = (byte)obj.State,
                    new_detection = obj.NewDetection,
                });
            }

            return r;
        }

as for @MaxandreOgeret comment, we are looking into the issue posted.

-edit to swap to the right method LGSVL not Apollo, whoops

[PveOnly]

Hi is there some news ? I have the same problem.

[EricBoiseLGSVL]

@PveOnly what issue do you have exactly? Velocity is fixed and in the latest release 2021.3 and ROS1 is supported. See RadarSensor.cs RosConversions.cs and Lgsvl.cs.

[PveOnly]

Hi the issue is when I launch the rosbridge_websocket.launch to retrieve data from the radar I got these error pourring on the INFO tab :

I'm using WSL Ubuntu 18.04 and the binary svlsimulator-windows64-2021.3 I have no problem retrieving the LIDAR's data. When I try to retrieve the data from the radar I have no output in my terminal

[EricBoiseLGSVL]

Please post the player log so we can see where the error starts. Also any sensor/bridge configs to see how you set the simulation up.

I wonder if the WSL is an issue here but it could be the bridge. Any idea @hadiTab ?

[PveOnly]

No problem , here is the Player.log : Player.log For this simulation I launched the simulation first then launched my rosbridge during the simulation (like 20 second after)

For the sensor/bridge I used that :

with "/radar" as a topics and "radar" as the frame for the radar and "/points_raw" and "velodyne" for the LIDAR on the default Jaguar2015XE

For the bridge with WLS I followed your tutorial (https://github.com/lgsvl/simulator/issues/754). I had some issue but I was able to resolve them

For the lgsvl_msg required for the radar I built from source because I could not install it with sudo apt:

[PveOnly]

The rosbridge terminal output when I launch it : ros_bridge_terminal_output.txt

[EricBoiseLGSVL]

Can you clarify what you mean by built from source the lgsvl_msg? What was the issue? Are you able to run the provided ROS bridge? @revati-naik Are you able to reproduce this?

[PveOnly]

The issue is that this line didn't work :

So I just followed this instead :

What is the provided ROS bridge ? The ROS bridge seems to work since I can retrieve data from the LIDAR

[MaxandreOgeret]

Try with a dash and not an underscore

On Thu, 11 Nov 2021, 18.26 PveOnly, @.***> wrote:

The issue is that this line didn't work : [image: image] https://user-images.githubusercontent.com/37158659/141331378-be6d86cf-9b59-4a6e-86ac-dd9ab17cf189.png

[image: image] https://user-images.githubusercontent.com/37158659/141331607-7bb5049b-9621-4c02-b9ee-46436df74756.png

So I just followed this instead : [image: image] https://user-images.githubusercontent.com/37158659/141331758-33e86e83-a449-4140-b668-d8ea60a3cf96.png

What is the provided ROS bridge ? The ROS bridge seems to work since I can retrieve data from the LIDAR

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[PveOnly]

Thank you I was able to install it with apt ! I reinitiated my WSL Ubuntu 18.04 installation and reinstalled the bridge then launched a new simulation to check if the problem came from that but unfortunately it didn't solve the problem.

I installed the melodic ros bridge by following these command : melodic_ros_bridge_install.txt

[EricBoiseLGSVL]

We are looking into why the radar is not publishing, hope to have a solution soon

[PveOnly]

Thanks !

[Ankur02]

Hi, I am still facing the issue where the /radar_data just gives empty objects. Has there been any resolution to the problem?