This repository contains ROS2-ported packages for working with marine radars, including radar drivers and packages for processing radar data for vehicle navigation.
Simrad Halo radar data visualized in Rviz
Defines messages for use by marine radar drivers to control radars. See the marine_radar_control_msgs README for details.
Driver for Simrad Halo series of marine radars. See the simrad_halo_radar README for details.
Defines a nav2_costmap_2d layer for marine radars for use with the ROS2 nav2 navigation stack. See marine_radar_layer README for details.
Contains nodes for publishing radar data as a ROS pointcloud2 for easy display in Rviz. Radar tracker nodes are not ported to ROS2 and development is still in-progress. See marine_radar_tracker README for details.
Plugin for visualizing marine radar data and controlling radar via RQT GUI. See the rqt_marine_radar repository for installation and usage details.