https://github.com/uos/radarays_ros
Rotating FMCW radar simulation based on ray tracing
https://github.com/uos/radarays_ros
navtech radar radarays robotics robotics-simulation ros
Last synced: 5 months ago
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Rotating FMCW radar simulation based on ray tracing
- Host: GitHub
- URL: https://github.com/uos/radarays_ros
- Owner: uos
- Created: 2023-09-26T10:07:47.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2025-02-11T21:34:58.000Z (over 1 year ago)
- Last Synced: 2025-02-11T22:30:48.168Z (over 1 year ago)
- Topics: navtech, radar, radarays, robotics, robotics-simulation, ros
- Language: C++
- Homepage:
- Size: 1.51 MB
- Stars: 24
- Watchers: 7
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# RadaRays - ROS package
Rotating 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.
## Requirements
- ROS noetic
- Rmagine for ray tracing on CPU or NVIDIA GPUs (RTX or non-RTX): https://github.com/uos/rmagine
- (optional) mesh_tools fork for visualizations: [https://github.com/aock/mesh_tools](https://github.com/aock/mesh_tools)
Mainly tested on:
- Ubuntu 20.04
- AMD Ryzen 7 3800X
- NVIDIA GeForce RTX 2070 SUPER
And others: see paper (preprint is coming soon).
## MulRan
Demonstration 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
```console
roslaunch radarays_ros mulran_sim.launch gui:=false
```
The 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:
```console
roslaunch radarays_ros mulran_sim.launch gui:=true
```
The results should look as follows:
Left is the real radar polar image from the MulRan datasets. Right is the RadaRays simulated polar image.
Videos: https://youtube.com/playlist?list=PL9wBuzh6ev06rcl8ksSnxRtv-7jAkR_wx
## BRDF
Easily customize the models reflection parameters using the following interactive tool:
```console
rosrun radaray_ros radarays_snell_fresnel_brdf.py
```
## Citation
Please reference the following papers when using RadaRays in your scientific work.
```bib
@article{mock2025radarays,
author={Mock, Alexander and Magnusson, Martin and Hertzberg, Joachim},
journal={IEEE Robotics and Automation Letters},
title={RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing},
year={2025},
volume={10},
number={3},
pages={2470-2477},
doi={10.1109/LRA.2025.3531689}
}
```
The paper is available on [IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/10845807) and as preprint on [arXiv](https://arxiv.org/abs/2310.03505).
## Radarays Plugins
- Gazebo: [`https://github.com/uos/radarays_gazebo_plugins`](https://github.com/uos/radarays_gazebo_plugins)
## Roadmap
- [ ] 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.
## Development
There are currently the following active development tracks on individual branches:
1. [dev/flex](https://github.com/uos/radarays_ros/tree/dev/flex)
- flexible reflection models for rapid prototyping (CPU-only)
- Video for Cook-Torrance reflection model: https://www.youtube.com/watch?v=PI5j87NQzmk
2. [dev/opti](https://github.com/uos/radarays_ros/tree/dev/opti)
- automatic material property optimization using the standard RadaRays simulation model
Individual components of these development branches are transferred to the main branch after extensive testing.