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autowarefoundation · Feb 13, 2024 · 15b5c49 · 15b5c49
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diff --git a/...esign/autoware-architecture/sensing/data-types/radar-data/radar-objects-data.md b/...esign/autoware-architecture/sensing/data-types/radar-data/radar-objects-data.md
@@ -28,6 +28,7 @@ Autoware uses radar objects data type as [radar_msgs/msg/RadarTracks.msg](https:
 In detail, please see [Data message for radars](supported-functions/data-message.md).
 
 ## Supported functions
+
 ### Device driver for radars
 
 Autoware support `ros-perception/radar_msgs/msg/RadarScan.msg` and `autoware_auto_perception_msgs/msg/TrackedObjects.msg` for Radar drivers.
@@ -78,6 +79,7 @@ Example is as below.
 ```
 
 ## Appendix
+
 ### Discussion
 
 Radar architecture design is discussed as below.

diff --git a/...gn/autoware-architecture/sensing/data-types/radar-data/radar-pointcloud-data.md b/...gn/autoware-architecture/sensing/data-types/radar-data/radar-pointcloud-data.md
@@ -23,6 +23,7 @@ This diagram describes the pre-process pipeline for radar pointcloud.
 - For use of radar pointcloud data by LiDAR packages, we would like to propose a converter for creating `sensor_msgs/msg/Pointcloud2.msg` from `ros-perception/radar_msgs/msg/RadarScan.msg`.
 
 ## Supported functions
+
 ### Data message for radars
 
 Autoware uses radar objects data type as [radar_msgs/msg/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg).
@@ -65,6 +66,7 @@ For considered use cases,
 - Apply obstacle segmentation like [ground segmentation](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/ground_segmentation) to radar points for LiDAR-less (camera + radar) systems.
 
 ## Appendix
+
 ### Discussion
 
 Radar architecture design is discussed as below.

diff --git a/...-architecture/sensing/data-types/radar-data/supported-functions/data-message.md b/...-architecture/sensing/data-types/radar-data/supported-functions/data-message.md
@@ -1,4 +1,5 @@
 # Data message for radars
+
 ## Summary
 
 To sum up, Autoware uses radar data type as below.
@@ -7,6 +8,7 @@ To sum up, Autoware uses radar data type as below.
 - [radar_msgs/msg/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) for radar objects.
 
 ## Radar data message for pointcloud
+
 ### Message definition
 
 - <https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg>
@@ -32,6 +34,7 @@ float32 amplitude                        # The amplitude of the of the return (d
 ```
 
 ## Radar data message for tracked objects
+
 ### Message definition
 
 - [radar_msgs/msg/RadarTrack.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg)
@@ -77,6 +80,7 @@ uint16 PEDESTRIAN = 32007;
 For detail implementation, please see [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/radar_tracks_msgs_converter).
 
 ## Note
+
 ### Survey for radar message
 
-Depending on the sensor manufacturer and its purpose, each sensor might exchange raw, post-processed data. This section introduces a survey about the previously developed messaging systems in the open-source community.  Although there are many kinds of outputs, radar mainly adopt two types as outputs, pointcloud and objects. Related discussion for message definition in ros-perception are [PR #1](https://github.com/ros-perception/radar_msgs/pull/1), [PR #2](https://github.com/ros-perception/radar_msgs/pull/2), and [PR #3](https://github.com/ros-perception/radar_msgs/pull/3). Existing open source softwares for radar are summarized in these PR.
+Depending on the sensor manufacturer and its purpose, each sensor might exchange raw, post-processed data. This section introduces a survey about the previously developed messaging systems in the open-source community. Although there are many kinds of outputs, radar mainly adopt two types as outputs, pointcloud and objects. Related discussion for message definition in ros-perception are [PR #1](https://github.com/ros-perception/radar_msgs/pull/1), [PR #2](https://github.com/ros-perception/radar_msgs/pull/2), and [PR #3](https://github.com/ros-perception/radar_msgs/pull/3). Existing open source softwares for radar are summarized in these PR.
diff --git a/...architecture/sensing/data-types/radar-data/supported-functions/device-driver.md b/...architecture/sensing/data-types/radar-data/supported-functions/device-driver.md
@@ -1,4 +1,5 @@
 # Device driver for radars
+
 ## Interface for radar devices
 
 The radar driver converts the communication data from radars to ROS2 topics.