autoware_radar_objects_adapter

Purpose

This package converts autoware_sensing_msgs::msg::RadarObjects into autoware_perception_msgs::msg::DetectedObjects and autoware_perception_msgs::msg::TrackedObjects, 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

Output

Parameters

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

Changelog for package autoware_radar_objects_adapter

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• test(autoware_radar_objects_adapter): add characterization test for RadarObjectsAdapter startup and radar info gate (#13405)

  * test(autoware_radar_objects_adapter): add a characterization test harness for RadarObjectsAdapter Phase 1 of the node/logic separation of radar_objects_adapter: a gtest that drives the node over its real topics from a peer node, pumped from the test thread. This first part pins how the node starts: the six default_* parameters are required, the classification_remap.* ones are not. The topic names, message types and the QoS the node subscribes with are exercised by the peer's endpoints in every case that feeds the node, so they get no case of their own. The behavior of the conversion follows in later commits. The test is added as an isolated ROS gtest and is skipped when ENABLE_AGNOCAST=1, like the other ROS-based tests in this repository. No production code is changed. Co-Authored-By: Claude Fable 5.1 <<noreply@anthropic.com>>

  * test(autoware_radar_objects_adapter): pin the radar info gate of RadarObjectsAdapter Radar objects are converted only after a radar info message has declared all eight required fields; until then they are dropped and not replayed once the radar info arrives. These tests pin that gate as it is today. The builders for radar info and radar objects messages, and the fixture helpers that send them, come in with this commit because these are the first tests that feed the node. Co-Authored-By: Claude Fable 5.1 <<noreply@anthropic.com>>

  * test(autoware_radar_objects_adapter): say what the incomplete radar info case tells apart The comment on Gate_RadarInfoMissingRequiredField_ObjectsDropped now states what the case distinguishes (a gate that reads the radar info from one that opens on any) and what it does not observe (whether the message was rejected or ignored, and which fields are required), as discussed in review. Comment only. Co-Authored-By: Claude Fable 5.1 <<noreply@anthropic.com>> ---------Co-authored-by: Claude Fable 5.1 <<noreply@anthropic.com>>

• feat(radar_objects_adapter): apply [agnocast_wrapper::Node]{.title-ref} to [radar_objects_adapter]{.title-ref} (#12876)

  • apply agnocast_wrapper::Node
  • keep const reference subscription callbacks
  • refactor(radar_objects_adapter): read the input topic name from the subscription
  • fix(cuda_utils): guard the CHECK_CUDA_ERROR macro against redefinition

  * Revert "fix(cuda_utils): guard the CHECK_CUDA_ERROR macro against redefinition" This reverts commit d469313341c666d0e9e5401696bc86363f5e712c. ---------Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>>

• refactor(sensing): move node design files into each package (#13105)

• Contributors: Kentaro Nagatomo, Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(radar_objects_adapter): apply agnocast for publisher of [radar_objects_adapter]{.title-ref} (#12756) apply agnocast for publisher
• Contributors: Koichi Imai, github-actions

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(autoware_radar_objects_adapter): remove dependency on autoware_universe_utils in sensing (#12407)

  * feat(autoware_radar_objects_adapter): replace autoware_universe_utils with autoware_utils Replace dependency on autoware_universe_utils with autoware_utils in sensing/autoware_radar_objects_adapter. Related to #12376

  • fix: rename createQuaternionFromYaw to create_quaternion_from_yaw

  * fix(autoware_radar_objects_adapter): use autoware_utils_geometry ---------Co-authored-by: github-actions <<github-actions@github.com>>

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