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autoware_radar_object_tracker package from autoware_universe repo

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autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor 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github

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Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Do tracking radar object

Additional Links

No additional links.

Maintainers

Yoshi Ri
Yukihiro Saito
Taekjin Lee

Authors

No additional authors.

perception/autoware_radar_object_tracker/README.md

`autoware_radar_object_tracker`

Purpose

This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.

Inner-workings / Algorithms

This radar object tracker is a combination of data association and tracking algorithms.

Data Association

The data association algorithm matches detected objects to existing tracks.

Tracker Models

The tracker models used in this package vary based on the class of the detected object. See more details in the models.md.

Inputs / Outputs

Input

Name	Type	Description
`~/input`	`autoware_perception_msgs::msg::DetectedObjects`	Detected objects
`/vector/map`	`autoware_map_msgs::msg::LaneletMapBin`	Map data

Output

Name	Type	Description
`~/output`	`autoware_perception_msgs::msg::TrackedObjects`	Tracked objects

Parameters

Node Parameters

Name	Type	Default Value	Description
`publish_rate`	double	10.0	The rate at which to publish the output messages
`world_frame_id`	string	“map”	The frame ID of the world coordinate system
`enable_delay_compensation`	bool	false	Whether to enable delay compensation. If set to `true`, output topic is published by timer with `publish_rate`.
`tracking_config_directory`	string	”./config/tracking/”	The directory containing the tracking configuration files
`enable_logging`	bool	false	Whether to enable logging
`logging_file_path`	string	“/tmp/association_log.json”	The path to the file where logs should be written
`tracker_lifetime`	double	1.0	The lifetime of the tracker in seconds
`use_distance_based_noise_filtering`	bool	true	Whether to use distance based filtering
`minimum_range_threshold`	double	70.0	Minimum distance threshold for filtering in meters
`use_map_based_noise_filtering`	bool	true	Whether to use map based filtering
`max_distance_from_lane`	double	5.0	Maximum distance from lane for filtering in meters
`max_angle_diff_from_lane`	double	0.785398	Maximum angle difference from lane for filtering in radians
`max_lateral_velocity`	double	5.0	Maximum lateral velocity for filtering in m/s
`can_assign_matrix`	array		An array of integers used in the data association algorithm
`max_dist_matrix`	array		An array of doubles used in the data association algorithm
`max_area_matrix`	array		An array of doubles used in the data association algorithm
`min_area_matrix`	array		An array of doubles used in the data association algorithm
`max_rad_matrix`	array		An array of doubles used in the data association algorithm
`min_iou_matrix`	array		An array of doubles used in the data association algorithm

See more details in the models.md.

Tracker parameters

Currently, this package supports the following trackers:

linear_motion_tracker
constant_turn_rate_motion_tracker

Default settings for each tracker are defined in the ./config/tracking/, and described in models.md.

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_radar_object_tracker

0.47.0 (2025-08-11)

feat(autoware_radar_object_tracker): change package name in config file (#10988) change package name in config file
style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Masato Saeki, Ryohsuke Mitsudome

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(autoware_radar_object_tracker): adaptation to autoware_utils (#10464)
- feat(autoware_radar_object_tracker): adaptation to autoware_utils
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: NorahXiong, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

Merge remote-tracking branch 'origin/main' into humble
build(autoware_radar_object_tracker): fix missing diagnostic_updater dependency (#10480)
fix(radar_object_tracker): add required headers (#10463)
feat(radar_object_tracker): add diagnostics for checking radar input status (#10432)
- add diagnostics
- style(pre-commit): autofix
* Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update perception/autoware_radar_object_tracker/config/radar_object_tracker.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update perception/autoware_radar_object_tracker/config/radar_object_tracker.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>
- fix var name
* change callback param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>
Contributors: Esteve Fernandez, Masaki Baba, Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_lint_auto
	autoware_lint_common
	autoware_kalman_filter
	autoware_lanelet2_extension
	autoware_object_recognition_utils
	autoware_perception_msgs
	autoware_utils_geometry
	diagnostic_updater
	glog
	mussp
	rclcpp
	rclcpp_components
	tf2
	tf2_ros
	unique_identifier_msgs

System Dependencies

Name
gtest
eigen
nlohmann-json-dev
yaml-cpp

Dependant Packages

Name	Deps
tier4_perception_launch

Launch files

launch/radar_object_tracker.launch.xml
- - input [default: /perception/object_recognition/detection/objects]
  - output [default: objects]
  - tracker_setting_path [default: $(find-pkg-share autoware_radar_object_tracker)/config/default_tracker.param.yaml]
  - data_association_matrix_path [default: $(find-pkg-share autoware_radar_object_tracker)/config/data_association_matrix.param.yaml]
  - radar_object_tracker_param_path [default: $(find-pkg-share autoware_radar_object_tracker)/config/radar_object_tracker.param.yaml]
  - vector_map_topic [default: /map/vector_map]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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