Feature(sensors): add radar sensor plugin adapted from ASVSim - #9
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grossetjuliette wants to merge 1 commit into
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Feature(sensors): add radar sensor plugin adapted from ASVSim#9grossetjuliette wants to merge 1 commit into
grossetjuliette wants to merge 1 commit into
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Introduce a GPU-LiDAR-based radar simulation plugin for LOTUSim, adapted from ASVSim's radar model. The plugin converts raw Gazebo GPU-LiDAR PointCloudPacked data into radar-like imagery using a Point-Spread-Function (PSF) smearing model. New packages: - systems/sensors/radar_sensor: standalone RadarSensor plugin - interfaces/lotusim_sensor_msgs: add RadarDetection and RadarScan messages Changes: - LotusimSensorPlugin can instantiate RadarSensor via CreateSensor<RadarSensor>() Published ROS 2 topics (<vessel>/<sensor> prefix): /radar/image — PSF-smeared radar display (bgr8) /radar/lidar_image — raw lidar hit map (bgr8) /radar/detections — RadarScan (range, azimuth, intensity) Signed-off-by: Juliette Grosset <jgrosset10@gmail.com>
GNeron
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Mar 16, 2026
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Introduce a GPU-LiDAR-based radar simulation plugin for LOTUSim, adapted from ASVSim's radar model.
The plugin converts raw Gazebo GPU-LiDAR PointCloudPacked data into radar-like imagery using a Point-Spread-Function (PSF) smearing model.
New packages:
Changes:
Published ROS 2 topics (/ prefix):
/radar/image — PSF-smeared radar display (bgr8)
/radar/lidar_image — raw lidar hit map (bgr8)
/radar/detections — RadarScan (range, azimuth, intensity)