ROS Radar-View

This ROS package allow you to generate a radar like map using relative coordinate to the center, like as below.

Fig.1 RViz screenshot of the radar-view with multiples points

🚀 Quick start

1. Installation from source

First you need to download all required source, like the ros-image-transport-py package, that manage automaticly image stream. Moreover you might need some python package like OpenCV, you can install them by simply execute pip install opencv-python or better compile from source for GPU.

Clone and Compile

Clone thoose two packages inside the src directory of your catkin workspace.

git clone https://github.com/alexandrefch/radar-view.git
git clone https://github.com/alexandrefch/ros-image-transport-py.git

Now you can compile them using your catkin tool (catkin_make, catkin_build ...).

2. Custom launch file

Here you can find an example launch file where each parameters are described.

<?xml version="1.0"?>
<launch>
    <node pkg="radar_view" type="RadarView.py" name="radar_view">
        <!-- [optional] Update frequency (default=10hz) -->
        <param name="frequency" type="int" value="10"/>
        <!-- Input topic name -->
        <param name="input_topic" type="str" value="/path_to_your_input_topic"/>
        <!-- Output topic name (type is sensor_msgs.msg.Image) -->
        <param name="output_topic" type="str" value="/path_to_your_output_topic"/>
        <!-- [optional] Map resolution in pixel (default=1024px) -->
        <param name="map_resolution" type="int" value="1024"/>
        <!-- [optional] Map range in meter (default=80.0m) -->
        <param name="map_range" type="double" value="80.0"/>
        <!-- [optional] Map graduation distance (default=10.0m) -->
        <param name="map_graduation" type="double" value="10.0"/>
        <!-- [optional] Use clockwise angle (default=false) -->
        <param name="clockwise" type="bool" value="true"/>
    </node>
</launch>

📨 Messages

RadarObj.msg

The position x and y are relative to the center of the map, that mean that the center of the map is (0;0), label and color param are optional you don't need to fill them to make a point appear on the map.

float32 x                # x position [m]
float32 y                # y position [m]
string label             # obj label (optional)
std_msgs/ColorRGBA color # obj color (optional)

RadarObjArray.msg

radar_view/RadarObj[] objects