Matlab Radar Simulation in Gazebo

Hey everyone,

I am trying to simulate radar in gazebo using ROS and Matlab for a school assignment. I know how to connect to the Gazebo envirnment with ROS, but I am unsure how to utilize the given code (https://www.mathworks.com/help/phased/examples/radar-signal-simulation-and-processing-for-automated-driving.html#d120e10430) in gazebo by using publishers and subscribers. Could someone help explain the process of using the above code to accuratly get radar data in gazebo and then process it in Matlab?

Thanks.

Answer 1

[Tohru Kikawada]

If you want to integrate a radar model on Gazebo side, you'll need to write your own SDF file for Gazebo: http://gazebosim.org/tutorials?tut=ros_gzplugins

A radar plugin can be found here: https://github.com/ros-simulation/gazebo_radar_plugin

[Maksim]

Have you tried using this plugin yourself? He's not working.

[Tohru Kikawada]

Unfortunately, I haven't tried the plugin. Regarding to utilize the example code, you can replace the following tgtPos with the poses /gazebo/model_states acquired from Gazebo through ROS.

    tgtPoses = targetPoses(egoCar);
    tgtPos = reshape([tgtPoses.Position],3,[]);