Standard messages for marine radars

rolker · January 20, 2023, 9:05pm

Update on creating a standard marine radar message

I have iterated over the format with your suggestions (Thanks all!) and collected new data. So far, everything is still working fine for my application.

Now that I finally learned how to write bag migration rules, I was able to add a few tweaks to the format and update my data.

With @lindzey and others work with related marine messages, I’d like to get radar messages ready to be added to the proper upcoming marine messages package.

So, here’s what I have so far: marine_sensor_msgs/msg at standard_proposal · rolker/marine_sensor_msgs · GitHub

I welcome your feedback!

rolker · February 2, 2023, 4:00pm

Thanks to @peci1 for the great comments. I updated the format again and clarified some inline comments.

I’m hoping to soon have some example data to share with a few tools to help visualize it.

I welcome any further feedback!

github.com

rolker/marine_sensor_msgs/blob/standard_proposal/msg/RadarSector.msg

# A collection of marine radar rays, typically covering a contiguous
# arc of a full circle.

Header header            # timestamp in the header is the acquisition time of 
                         # the first ray in the sector.
                         #
                         # in frame frame_id, angles are measured around 
                         # the positive Z axis (counterclockwise, if Z is up)
                         # with zero angle being forward along the x axis

float32 angle_start      # start angle of this sector [rad]
float32 angle_increment  # angular distance between measurements [rad]

duration time_increment  # time between rays [seconds] - if your scanner
                         # is moving, this will be used in interpolating
                         # position of 3d points
duration scan_time       # time between two consecutive complete scans 
                         # or revolutions [seconds]

                         # Warning: On hardware that doesn't provide a timestamp

This file has been truncated. show original

peci1 · February 6, 2023, 11:28pm

I haven’t checked the migration rules, but the new definitions look good to me!

peci1 · February 6, 2023, 11:29pm

It might be better for community input to create a pull request from your branch against noetic so that it is easier to comment the changes.

rolker · February 10, 2023, 7:00pm

I actually do have a pull request!

Hamza · April 20, 2023, 12:45pm

Hi rolker, I am using this GitHub - rolker/halo_radar: ROS node to interact with Halo series marine radar. for Simrad halo Radar 20 in ROS-noetic as a publisher node. I am just wondering if there is any display type to visualize marine_sensor_msgs/RadarSector in rviz. Or we have to change the message type to available display types like PointCloud2.

rolker · April 21, 2023, 5:30am

Hi Hamza,

I use this node to convert to a point cloud for use with rviz: marine_radar_tracker/marine_radar_to_pointcloud.cpp at noetic · rolker/marine_radar_tracker · GitHub

rolker · May 2, 2023, 7:26pm

Thanks to all that have contributed so far.

To go along with the new naming conventions used for marine messages, A new pull request can now be found here: Add radar message and migration rules. by rolker · Pull Request #40 · apl-ocean-engineering/marine_msgs · GitHub

Hamza · May 8, 2023, 10:38am

Hi rolker,
When compiling this repo marine_radar_tracker/marine_radar_to_pointcloud.cpp at noetic · rolker/marine_radar_tracker · GitHub I am facing the errors about echo. I have define LaserEcho msg in marine_sensor_msg in RadarSector but I think it’s not the right way. I also do not saw any echo msg in this node GitHub - rolker/halo_radar: ROS node to interact with Halo series marine radar..

rolker · May 8, 2023, 2:26pm

Hi Hamza,

Sorry you got cought is some out-of-sync repos as I work on this message standardaization effor.

I’m in the process of updating repositories and documentation and will report back when I’m done and have clear instructions for you.

Roland

Hamza · May 8, 2023, 4:30pm

Yeah that would be great. Also I made a little changes in halo_radar.cpp file while debugging it for my radar because after running the node it constantly saying that “No radar found”, Now I am able to change the state from ‘standby’ to 'transmit’ and under rostopic echo /radar/HaloA/data, I am able to see the angle, range and intensities.

rolker · May 8, 2023, 5:04pm

OK, I just updated the repos and added a bit of documentation.

Now, for the changes you had to make, it seems like the size of packet you are recieving differes from when I was expecting? I wonder if that’s caused by different firmware on the radar or something similar. Which model are you using?

Hamza · May 9, 2023, 12:02pm

Hi, thanks for the update. I am using Halo 20 simrad B&G (halo pulse compression radar).
Now after cloning the updated repos I got this new error.

Did you change the struct definition? I think in the RadarDisplay::radarCallback () is not calling the correct memeber or? I am not sure.

rolker · May 9, 2023, 12:44pm

Looks like your camp package has not been updated. Is it up to date with the default (noetic) branch from GitHub - CCOMJHC/camp: Planning software for autonomous surface and underwater vehicles.?

Hamza · May 10, 2023, 2:46pm

Hi, Yes I have updated the repos and compiled it. Now I see under rostopic echo /radar/HaloA/data (echoes instead of angle range and intensities which was before the update) I don’t know why.

But yes now I can visualize the in rviz in dsplay option pointcloud. the changes I had to made was only in marine_radar_to_pointcloud.cpp. I have changed the name of the topic “/radar/HaloA/data”.
And also a ctrl+c keyboard interrupt

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Standard messages for marine radars

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