Purpose

To supplement the messages provided in sensor_msgs with a set of radar-specific messages.

Types of Messages

The types of messages provided in this package are mostly broken down into three categories:

1. Detections - These are un-tracked returns from the radar which provide estimates of only position and velocity measurements in the X and Y planes as well as the return's amplitude.

2. Tracks - These are aggregated objects fused and filtered from several detections. These provide not only the estimated size and shape of the track (represented as a geometry_msgs/Polygon), the track's estimated X and Y velocity, but also the linear acceleration in the X direction.

3. Statuses - The sensor status associated with the radar. Also a separate message for the radar's error status.