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Overview

This package is intended to contain a collection of simulated radar sensor plugins for different Ainstein products. All radar plugins are based on the existing laser RayPlugin with additional processing to convert laser range detections to radar targets and publish them as ainstein_radar_msgs/RadarTargetArray messages.

While the libgazebo_radar_sensor_plugin.so shared library (plugin) is intended to be generic enough to simulate any Ainstein radar, it currently only is valid for 1d radars (a vertical scan dimension could be added and used to fill the elevation angle data), does not support target speed (this might be able to be computed numerically from successive scans) and the SNR is filled from the returned ray intensity (this has not really been tested and may be a bad idea).

Install Instructions

Once the package has been built (as normal in the catkin workspace), copy the folder(s) inside the models/ directory to somewhere on your GAZEBO_MODEL_PATH, eg. ~/.gazebo/models which can be added to your model path (if it isn't already) by adding this to your .bashrc:

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/.gazebo/models

Also, make sure that ~/catkin_ws/devel/lib/ is on your GAZEBO_PLUGIN_PATH as this is where the shared library will be built. To do this, add the following to your .bashrc:

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/catkin_ws/devel/lib

To test that the sensor is able to be loaded correctly in Gazebo (before adding it to another model), use the provided test.launch file to attempt to start Gazebo with the radar sensor. If you see an error about not finding the .so file, check your GAZEBO_PLUGIN_PATH.