{"action":"opened","issue":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5660","repository_url":"https://api.github.com/repos/ApolloAuto/apollo","labels_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5660/labels{/name}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5660/comments","events_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5660/events","html_url":"https://github.com/ApolloAuto/apollo/issues/5660","id":357259876,"node_id":"MDU6SXNzdWUzNTcyNTk4NzY=","number":5660,"title":"radar rostopic question ","user":{"login":"freeclouds","id":19250516,"node_id":"MDQ6VXNlcjE5MjUwNTE2","avatar_url":"https://avatars2.githubusercontent.com/u/19250516?v=4","gravatar_id":"","url":"https://api.github.com/users/freeclouds","html_url":"https://github.com/freeclouds","followers_url":"https://api.github.com/users/freeclouds/followers","following_url":"https://api.github.com/users/freeclouds/following{/other_user}","gists_url":"https://api.github.com/users/freeclouds/gists{/gist_id}","starred_url":"https://api.github.com/users/freeclouds/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/freeclouds/subscriptions","organizations_url":"https://api.github.com/users/freeclouds/orgs","repos_url":"https://api.github.com/users/freeclouds/repos","events_url":"https://api.github.com/users/freeclouds/events{/privacy}","received_events_url":"https://api.github.com/users/freeclouds/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-09-05T14:35:47Z","updated_at":"2018-09-05T14:35:47Z","closed_at":null,"author_association":"NONE","body":"code version: apollo 3.0\r\nDear apollo developer,\r\n      we want to use other measuring distance sensor ,such as camera,to substitute  continental ARS408-21 77GHz radar,\r\n     we print radar topic:  /apollo/sensor/conti_radar\r\nsuch as:\r\ncontiobs {\r\n  header {\r\n    timestamp_sec: 1523917535.98\r\n    module_name: \"conti_radar\"\r\n    sequence_num: 16614\r\n  }\r\n  clusterortrack: false\r\n  obstacle_id: 1\r\n  longitude_dist: 227.4\r\n  lateral_dist: -4.8\r\n  longitude_vel: -19.75\r\n  lateral_vel: -0.5\r\n  rcs: 7.0\r\n  dynprop: 2\r\n  longitude_dist_rms: 0.616\r\n  lateral_dist_rms: 1.317\r\n  longitude_vel_rms: 0.478\r\n  lateral_vel_rms: 1.697\r\n  probexist: 1.0\r\n  meas_state: 2\r\n  longitude_accel: -0.78\r\n  lateral_accel: 0.0\r\n  oritation_angle: -3.2\r\n  longitude_accel_rms: 1.023\r\n  lateral_accel_rms: 0.005\r\n  oritation_angle_rms: 0.471\r\n  length: 4.4\r\n  width: 1.8\r\n  obstacle_class: 1\r\n}\r\n     we find the topic include \"obstacle_class\",trace the source code we find that in protobuf have define seven obstacle class,such as: \r\n// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown\r\n  optional int32 obstacle_class = 24;\r\n     the radar topic:  /apollo/sensor/conti_radar contain obstacle class ,\r\n     is continental ARS408-21 77GHz radar output obstacle class?\r\n"}}
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