Improve RGL radar sensor #286
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mackierx111
requested changes
Mar 28, 2024
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@mackierx111 |
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@PawelLiberadzki |
PawelLiberadzki
approved these changes
Apr 2, 2024
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@mackierx111 |
* Add ground filtering feature * Fix radar calls * add proper binary * add angle parameter as UI element * fix comment * add new binary file * delete old compact ad PR fixes * delete redundant transform from radar * move ground filtering strictly to radar * clear empty lines * Update Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs * Update Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs * Update Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs * delete leftover * suggestions cleanup
* Integrate RadarScan message (with RglLidarPublisher refactor) * Allow implicit conversion from any BasePublisher to PublisherWrapper * Cleanup * Remove PublisherWrapper because it doesn't work with serialization properly * Update prefabs and scenes * Update RGL binary for Linux * Update docs * Review changes
* Add ranged separation for distance and radial speed * Integrate modified API call with rgl_radar_separations_t * Add tooltips * Revert changes to the scene * Integrate new raytrace configuration API calls * Integrate changes to the radar postprocessing API call * Update RGL Ubuntu binary * Review changes * Change naming
* Update 3D model for radar * Smuggling: Update new Hesai prefabs with publisher component refactor changes
* Integrate radar power and noise levels * Fix parameters units * Update RGL binary * Make mesh colliders convex (required to work with non-kinematic rigidbody) * Parameters cleanup * Fix connecting and disconnecting nodes when no nodes left in the sequence * Review changes
* Radar Docs * Update docs * Hide lidar gaussian noise settings from radar interface --------- Co-authored-by: Mateusz Szczygielski <mateusz.szczygielski@robotec.ai>
* Rename parameters to be the same as in RGL API * Fix separations * Update docs * Update prefab * Update RGL binary
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I have rebased the branch and uploaded new RGL binaries with the fix to the azimuth calculation. It fixes incorrect point cloud filtering in autoware. |
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@mackierx111 |
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PR contains improvements to the RGL radar sensor:
Important
In order to support RadarScan ROS2 publishing, the
RglLidarPublishercomponent has been refactored. It may cause a compilation error if any scripts use this component directly (e.g., some scene configurations).