{"id":41633794,"url":"https://github.com/uos/radarays_ros","last_synced_at":"2026-01-24T14:40:10.973Z","repository":{"id":196628323,"uuid":"696723574","full_name":"uos/radarays_ros","owner":"uos","description":"Rotating FMCW radar simulation based on ray tracing","archived":false,"fork":false,"pushed_at":"2025-02-11T21:34:58.000Z","size":1585,"stargazers_count":24,"open_issues_count":0,"forks_count":2,"subscribers_count":7,"default_branch":"main","last_synced_at":"2025-02-11T22:30:48.168Z","etag":null,"topics":["navtech","radar","radarays","robotics","robotics-simulation","ros"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/uos.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-09-26T10:07:47.000Z","updated_at":"2025-02-11T21:35:02.000Z","dependencies_parsed_at":"2023-11-28T18:29:41.783Z","dependency_job_id":"cee0b3ee-ea1f-429b-aec6-96861f5fe328","html_url":"https://github.com/uos/radarays_ros","commit_stats":{"total_commits":47,"total_committers":1,"mean_commits":47.0,"dds":0.0,"last_synced_commit":"b93da738515d1b4a2b3bb7c96c291ef131940b5e"},"previous_names":["uos/radarays_ros"],"tags_count":2,"template":false,"template_full_name":null,"purl":"pkg:github/uos/radarays_ros","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/uos","download_url":"https://codeload.github.com/uos/radarays_ros/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Fradarays_ros/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28729981,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-24T10:24:43.181Z","status":"ssl_error","status_checked_at":"2026-01-24T10:24:36.112Z","response_time":89,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["navtech","radar","radarays","robotics","robotics-simulation","ros"],"created_at":"2026-01-24T14:40:10.772Z","updated_at":"2026-01-24T14:40:10.967Z","avatar_url":"https://github.com/uos.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# RadaRays - ROS package\n\nRotating FMCW radar simulation based on ray-tracing. This package contains all the tools that has been used to simulate radar data and compare it to real sensor data.\n\n## Requirements\n\n- ROS noetic\n- Rmagine for ray tracing on CPU or NVIDIA GPUs (RTX or non-RTX): https://github.com/uos/rmagine\n- (optional) mesh_tools fork for visualizations: [https://github.com/aock/mesh_tools](https://github.com/aock/mesh_tools)\n\nMainly tested on:\n- Ubuntu 20.04\n- AMD Ryzen 7 3800X\n- NVIDIA GeForce RTX 2070 SUPER\n\nAnd others: see paper (preprint is coming soon).\n\n## MulRan\n\nDemonstration of simulating rotating FMCW radar data in large-scale triangle meshes from MulRan datasets. We reconstructed a mesh of the sequences DCC, and KAIST, and added a localization frame to each bag file using MICP-L as described here: [https://github.com/aock/micp_experiments/tree/main/micp_mulran](https://github.com/aock/micp_experiments/tree/main/micp_mulran). The final bag files are piped to RadaRays. The simulation given the localization is started by\n\n\n```console\nroslaunch radarays_ros mulran_sim.launch gui:=false\n```\n\nThe simulated data is published on topic `/radar/image`. To enable the visualization you will need [https://github.com/aock/mesh_tools](https://github.com/aock/mesh_tools). Then start the same launch file:\n\n```console\nroslaunch radarays_ros mulran_sim.launch gui:=true\n```\n\nThe results should look as follows:\n\n![BRDF](dat/kaist02_radarays_papercolor.png)\n\nLeft is the real radar polar image from the MulRan datasets. Right is the RadaRays simulated polar image.\n\nVideos: https://youtube.com/playlist?list=PL9wBuzh6ev06rcl8ksSnxRtv-7jAkR_wx\n\n## BRDF\n\nEasily customize the models reflection parameters using the following interactive tool:\n\n```console\nrosrun radaray_ros radarays_snell_fresnel_brdf.py\n```\n\n![BRDF](dat/radarays_snell_fresnel_brdf.png)\n\n## Citation\n\nPlease reference the following papers when using RadaRays in your scientific work.\n\n```bib\n@article{mock2025radarays,\n  author={Mock, Alexander and Magnusson, Martin and Hertzberg, Joachim},\n  journal={IEEE Robotics and Automation Letters}, \n  title={RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing}, \n  year={2025},\n  volume={10},\n  number={3},\n  pages={2470-2477},\n  doi={10.1109/LRA.2025.3531689}\n}\n```\n\nThe paper is available on [IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/10845807) and as preprint on [arXiv](https://arxiv.org/abs/2310.03505).\n\n## Radarays Plugins\n\n- Gazebo: [`https://github.com/uos/radarays_gazebo_plugins`](https://github.com/uos/radarays_gazebo_plugins)\n\n## Roadmap\n\n- [ ] Put every non-ROS component to C++ only repository ([`https://github.com/uos/radarays`](https://github.com/uos/radarays)) for better reusage for non-ROS projects.\n\n\n## Development\n\nThere are currently the following active development tracks on individual branches:\n\n1. [dev/flex](https://github.com/uos/radarays_ros/tree/dev/flex)\n    - flexible reflection models for rapid prototyping (CPU-only)\n    - Video for Cook-Torrance reflection model: https://www.youtube.com/watch?v=PI5j87NQzmk\n2. [dev/opti](https://github.com/uos/radarays_ros/tree/dev/opti)\n    - automatic material property optimization using the standard RadaRays simulation model\n\nIndividual components of these development branches are transferred to the main branch after extensive testing.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fuos%2Fradarays_ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fuos%2Fradarays_ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fuos%2Fradarays_ros/lists"}