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radar_tracks_noise_filter package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation 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traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator 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Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/ieiauto/autodrrt.git
VCS Type	git
VCS Version	main
Last Updated	2025-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

radar_tracks_noise_filter

Additional Links

No additional links.

Maintainers

Sathshi Tanaka
Shunsuke Miura

Authors

Sathshi Tanaka

src/autodrrt.application/sensing/radar_tracks_noise_filter/README.md

radar_tracks_noise_filter

This package contains a radar object filter module for radar_msgs/msg/RadarTrack. This package can filter noise objects in RadarTracks.

Algorithm

The core algorithm of this package is RadarTrackCrossingNoiseFilterNode::isNoise() function. See the function and the parameters for details.

Y-axis threshold

Radar can detect x-axis velocity as doppler velocity, but cannot detect y-axis velocity. Some radar can estimate y-axis velocity inside the device, but it sometimes lack precision. In y-axis threshold filter, if y-axis velocity of RadarTrack is more than velocity_y_threshold, it treats as noise objects.

Input

Name	Type	Description
`~/input/tracks`	radar_msgs/msg/RadarTracks.msg	3D detected tracks.

Output

Name	Type	Description
`~/output/noise_tracks`	radar_msgs/msg/RadarTracks.msg	Noise objects
`~/output/filtered_tracks`	radar_msgs/msg/RadarTracks.msg	Filtered objects

Parameters

Name	Type	Description	Default value
`velocity_y_threshold`	double	Y-axis velocity threshold [m/s]. If y-axis velocity of RadarTrack is more than `velocity_y_threshold`, it treats as noise objects.	7.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	autoware_cmake
	ament_cmake_auto
	ament_lint_auto
	autoware_lint_common
	geometry_msgs
	radar_msgs
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/radar_tracks_noise_filter.launch.xml
- - input/tracks [default: ~/input/tracks]
  - output/noise_tracks [default: ~/output/noise_tracks]
  - output/filtered_tracks [default: ~/output/filtered_tracks]
  - velocity_y_threshold [default: 7.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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