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autoware_radar_objects_adapter package from autoware_universe repo

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autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module 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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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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	2025-11-14
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

The autoware_radar_objects_adapter package

Additional Links

No additional links.

Maintainers

Taekjin Lee
Yoshi Ri

Authors

Kenzo Lobos-Tsunekawa

sensing/autoware_radar_objects_adapter/README.md

autoware_radar_objects_adapter

Purpose

This package converts autoware_sensing_msgs::msg::RadarObjects into autoware_perception_msgs::msg::DetectedObjects, acting as a simple integration of radars into the perception pipeline.

RadarObjectsAdapter

A node that converts radar objects from the sensing definition into a perception friendly format with no filtering involved.

Parameter: classification_remap

This parameter allows remapping of classification labels from autoware_sensing_msgs::msg::RadarClassification to autoware_perception_msgs::msg::ObjectClassification. It should be provided as a flat list of strings, where each pair of strings represents an input label and the corresponding output label.

For example, the current default configuration remaps MOTORCYCLE and BICYCLE from radar classification to CAR in the perception classification, while keeping other labels unchanged.

Note: If multiple radar labels are remapped to the same perception label, multiple probabilities may appear for that label. This does not violate any logic in Autoware but may be worth monitoring.

Inputs / Outputs

Input

Name	Type	Description
~/input/objects	autoware_sensing_msgs::msg::RadarObjects	Input radar objects as defined in sensing.
~/input/radar_info	autoware_sensing_msgs::msg::RadarInfo	Input radar info.

Output

Name	Type	Description
~/output/objects	autoware_perception_msgs::msg::DetectedObjects	Output radar objects in the perception format.

Parameters

{{ json_to_markdown(“sensing/autoware_radar_objects_adapter/schema/radar_objects_adapter.schema.json”) }}

CHANGELOG

Changelog for package autoware_radar_objects_adapter

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
fix(autoware_radar_objects_adapter): update schema path in readme (#10607) fix(autoware_radar_objects_adapter): update schema path in README.md
feat(autoware_radar_objects_adapter): add publisher for tracks with uuid (#10556)
- feat: added the option to publish tracks in addition to detections
- chore: forgot to add the uuids
- feat: added hashes to avoid conflicts between radars
- feat(radar_objects_adapter): update QoS settings for detections and tracks publishers
* refactor: integrate common convert processes refactor: simplify function signatures in radar_objects_adapter
- refactor: rename parameters for clarity in radar covariance functions
* refactor: rename input parameter for clarity in objects_callback and related functions ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
feat(autoware_radar_objects_adapter): adapter from sensing radar objects into perception detections (#10459)
- feat: adapter from sensing radar objects into perception detections
- chore: bumped the autoware_msgs tag
* Update sensing/autoware_radar_objects_adapter/package.xml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update sensing/autoware_radar_objects_adapter/package.xml ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>
Contributors: Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_sensing_msgs
	autoware_universe_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/radar_objects_adapter.launch.xml
- - input_radar_objects [default: /radar_objects]
  - input_radar_info [default: /radar_info]
  - output_detections [default: /detections]
  - output_tracks [default: /tracks]
  - param_path [default: $(find-pkg-share autoware_radar_objects_adapter)/config/radar_objects_adapter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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