Carla: Incorrect doppler velocities

[stackSmasher294]

Hi everyone,

The current radar implementation seems to calculate the range rate along a given azimuth angle as simply the velocity the actor instead of velocity along the line of sight with radar. Does anyone know if fixing this is in the development pipeline of Carla?

X-axis: azimuth in degrees, Y-axis: range rate. One plot each for the front and the rear radar respectively. I was expecting a sinusoid relation b/w range rate and the azimuth angle.

I'd be happy to fix this if it's not planned.

[jackbart94]

Hello,

I think @marcgpuig can be more helpful than me with this issue, however you can always try to fix it and open a pull request, which we will later review and eventually update the code with.

[germanros1987]

@marcgpuig please, let's work on fixing this issue.

[doterop]

I am looking into this. I hope I can update you on Monday.

[doterop]

@stackSmasher294 Can you send me the script that you use to test? Or at least the part that you use to visualize the radar output?

[stackSmasher294]

Um, the actual script just reads off a ROS topic. It was used in conjunction with the Carla ros-bridge.

[stackSmasher294]

I think I may have figured out where the problem is. Just confirming - to test it, I'll have to build CARLA from source, right?

[doterop]

Yep, because the logic of the radar is in the server side.

[stackSmasher294]

Rebuild Carla with the fix and the problem is solved! The doppler plots now look like this:

I'll open a pull request with the fix.

[doterop]

Thanks @stackSmasher294 ! I just pushed it to master.

[stale[bot]]

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