Doku update - #915
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Added information about the sleep command in the node loop for the vehicle controller.
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📝 WalkthroughWalkthroughAdds and updates documentation across perception, mapping, control, planning, and deployment; inserts structured docstrings for three radar-node functions (no logic changes); introduces a Radar Raw Debugger doc; expands radar FOV, topics, and radar→lidar velocity-fusion documentation. Changes
Estimated code review effort🎯 2 (Simple) | ⏱️ ~10 minutes Possibly related PRs
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Actionable comments posted: 4
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Inline comments:
In `@code/perception/perception/radar_node.py`:
- Around line 671-672: Remove trailing spaces and blank lines in the affected
docstrings in perception/radar_node.py that are causing Ruff W291/W293
(specifically the docstring sections that include "Returns:" around the edits).
Edit each docstring so there is no whitespace after the final text line and the
closing triple-quote immediately follows the last non-blank line (no extra blank
lines or trailing spaces), e.g., in the docstrings noted around the "Returns:"
sections; repeat this for the other occurrences referenced (the similar
docstrings at the other noted locations).
In `@doc/general/load_checkpoints.md`:
- Around line 10-13: The doc's route-edit instructions reference editing a
ROUTE= line by fixed line numbers but the launcher script
launch_leaderboard.dev.sh now accepts CLI flags --routes and --routes-subset;
update the steps to instruct users to pass the desired route file or subset via
those flags when invoking launch_leaderboard.dev.sh (e.g., replace steps about
commenting/uncommenting ROUTE lines with guidance to use --routes <path> or
--routes-subset <name>), and mention that docker-compose.dev.cuda.yml should be
composed up afterwards as before.
In `@doc/perception/radar_node.md`:
- Around line 85-89: Update the three bullets to improve grammar and
hyphenation: replace "per point" with "per-point" and rephrase for clarity so
the meaning remains the same — e.g., state that "the average velocity for each
cluster is computed by averaging the per-point velocities," that "radar-measured
velocities must be compensated for ego-vehicle motion to obtain absolute
motion," and that "radar points must be translated into the sensor frame
beforehand"; apply these edits to the existing bullet lines mentioning cluster
velocity, ego vehicles motion, and sensor space to keep technical intent
unchanged.
- Line 108: Update the table entry for the `/carla/hero/Speed` topic to use the
correct message type package: change `sensor_msgs/CarlaSpeedometer` to
`carla_msgs/CarlaSpeedometer` so it matches the node import/subscription
(`carla_msgs.msg.CarlaSpeedometer`); ensure the table row for
`/carla/hero/Speed` reflects this exact string.
ℹ️ Review info
⚙️ Run configuration
Configuration used: defaults
Review profile: CHILL
Plan: Pro
Run ID: e07ffe07-aee9-4da8-9359-816a0c9914c9
📒 Files selected for processing (4)
code/perception/perception/radar_node.pydoc/control/vehicle_controller.mddoc/general/load_checkpoints.mddoc/perception/radar_node.md
Contributor
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Actionable comments posted: 1
♻️ Duplicate comments (2)
doc/perception/radar_node.md (2)
116-116:⚠️ Potential issue | 🟠 Major
/carla/hero/Speedmessage type package is still incorrect.Line 116 should use
carla_msgs/CarlaSpeedometer, notsensor_msgs/CarlaSpeedometer, to match the node implementation/subscription type.🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@doc/perception/radar_node.md` at line 116, Update the table entry for the `/carla/hero/Speed` topic so the message type matches the node subscription: replace `sensor_msgs/CarlaSpeedometer` with `carla_msgs/CarlaSpeedometer` in the markdown row describing `/carla/hero/Speed` to reflect the actual subscribed message type used by the node.
85-89:⚠️ Potential issue | 🟡 MinorPlease fix cluster-velocity wording and hyphenation.
Line 85 still has awkward phrasing (“calculated by calculation…”) and missing hyphenation (“per-point”, “ego-vehicle”). This reduces clarity in a key algorithm description.
🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@doc/perception/radar_node.md` around lines 85 - 89, Rewrite the awkward sentence starting "The average velocity for each cluster is calculated by calculation of per point velocity..." to a clear, concise phrase (e.g., "The average velocity for each cluster is computed by first calculating per-point velocities and then averaging them per cluster"), and update hyphenation for "per-point" and "ego-vehicle" throughout the paragraph (also ensure "sensor space" remains unchanged); locate and edit the sentence in the same paragraph that begins "The average velocity for each cluster..." in doc/perception/radar_node.md.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Inline comments:
In `@doc/perception/radar_node.md`:
- Around line 102-109: The wording in the "4.1 Usage for Cross Traffic
Detection" section uses inconsistent compound-word hyphenation; update
occurrences of "cross traffic" and "fast approaching" to the hyphenated forms
"cross-traffic" and "fast-approaching" for consistency (e.g., in the paragraph
under the "4.1 Usage for Cross Traffic Detection" header and the referenced line
~135); search for those phrases in this markdown and replace them so the
document consistently uses "cross-traffic" and "fast-approaching".
---
Duplicate comments:
In `@doc/perception/radar_node.md`:
- Line 116: Update the table entry for the `/carla/hero/Speed` topic so the
message type matches the node subscription: replace
`sensor_msgs/CarlaSpeedometer` with `carla_msgs/CarlaSpeedometer` in the
markdown row describing `/carla/hero/Speed` to reflect the actual subscribed
message type used by the node.
- Around line 85-89: Rewrite the awkward sentence starting "The average velocity
for each cluster is calculated by calculation of per point velocity..." to a
clear, concise phrase (e.g., "The average velocity for each cluster is computed
by first calculating per-point velocities and then averaging them per cluster"),
and update hyphenation for "per-point" and "ego-vehicle" throughout the
paragraph (also ensure "sensor space" remains unchanged); locate and edit the
sentence in the same paragraph that begins "The average velocity for each
cluster..." in doc/perception/radar_node.md.
ℹ️ Review info
⚙️ Run configuration
Configuration used: defaults
Review profile: CHILL
Plan: Pro
Run ID: 03ab0457-9b0d-4f64-89b2-f907686e6cae
⛔ Files ignored due to path filters (1)
doc/mapping/generated/mapping_common/map.mdis excluded by!**/generated/**
📒 Files selected for processing (3)
doc/perception/radar_node.mddoc/perception/radar_raw_debugger.mddoc/planning/Behavior_tree.md
✅ Files skipped from review due to trivial changes (2)
- doc/planning/Behavior_tree.md
- doc/perception/radar_raw_debugger.md
Contributor
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Actionable comments posted: 2
♻️ Duplicate comments (2)
doc/perception/radar_node.md (2)
108-110:⚠️ Potential issue | 🟡 MinorKeep cross-traffic wording hyphenated consistently.
Please consistently use
cross-trafficandfast-approachingin these sections.Also applies to: 148-148
🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@doc/perception/radar_node.md` around lines 108 - 110, Replace all occurrences of the unhyphenated phrases with the hyphenated forms: change "cross traffic" to "cross-traffic" and "fast approaching" to "fast-approaching" throughout the document (including the other instance noted around the later paragraph), ensuring consistent wording in the sentences that mention cross-traffic detection and measured velocity for fast-approaching vehicles.
128-128:⚠️ Potential issue | 🟠 MajorCorrect
/carla/hero/Speedmessage type package in docs.Line 128 still documents
sensor_msgs/CarlaSpeedometer; this should match the node usage and becarla_msgs/CarlaSpeedometer.#!/bin/bash # Verify actual message package used by radar node for /carla/hero/Speed. # Expected: imports/subscription reference carla_msgs.msg.CarlaSpeedometer. rg -n -C3 'CarlaSpeedometer|/carla/hero/Speed|create_subscription\(' code/perception/perception/radar_node.py🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@doc/perception/radar_node.md` at line 128, Docs list the message type for /carla/hero/Speed as sensor_msgs/CarlaSpeedometer but the radar node actually uses carla_msgs.CarlaSpeedometer; update the documentation entry in doc/perception/radar_node.md to use carla_msgs/CarlaSpeedometer so it matches the node subscription. Search the node code (radar_node.py) for create_subscription or imports referencing carla_msgs.msg.CarlaSpeedometer to confirm exact symbol names and update the table cell from sensor_msgs/CarlaSpeedometer to carla_msgs/CarlaSpeedometer accordingly.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Inline comments:
In `@code/mapping/mapping_common/filter.py`:
- Line 554: Wrap the overlong docstring lines (the line containing
"classification_threshold: minimum velocity magnitude to consider a radar point
as dynamic" and the similar long line at line 578) in mapping_common/filter.py
so they comply with Ruff's max line length; locate the docstring in the relevant
class/function in filter.py and break the long descriptions into multiple
shorter lines (or sentences) inside the existing triple-quoted docstring,
preserving punctuation and indentation so the docstring semantics remain
unchanged.
In `@doc/mapping/README.md`:
- Around line 51-53: Update the wording in the README paragraph to use
compound-word hyphenation for consistency: replace "cross traffic" with
"cross-traffic" and "fast moving" with "fast-moving" in the intersection-related
traffic checks description so the sentence reads that static objects should not
block the decision process, but fast-moving traffic must still be detected
reliably.
---
Duplicate comments:
In `@doc/perception/radar_node.md`:
- Around line 108-110: Replace all occurrences of the unhyphenated phrases with
the hyphenated forms: change "cross traffic" to "cross-traffic" and "fast
approaching" to "fast-approaching" throughout the document (including the other
instance noted around the later paragraph), ensuring consistent wording in the
sentences that mention cross-traffic detection and measured velocity for
fast-approaching vehicles.
- Line 128: Docs list the message type for /carla/hero/Speed as
sensor_msgs/CarlaSpeedometer but the radar node actually uses
carla_msgs.CarlaSpeedometer; update the documentation entry in
doc/perception/radar_node.md to use carla_msgs/CarlaSpeedometer so it matches
the node subscription. Search the node code (radar_node.py) for
create_subscription or imports referencing carla_msgs.msg.CarlaSpeedometer to
confirm exact symbol names and update the table cell from
sensor_msgs/CarlaSpeedometer to carla_msgs/CarlaSpeedometer accordingly.
ℹ️ Review info
⚙️ Run configuration
Configuration used: defaults
Review profile: CHILL
Plan: Pro
Run ID: c5fab512-9188-4d22-82d0-c05b47e06ae9
📒 Files selected for processing (3)
code/mapping/mapping_common/filter.pydoc/mapping/README.mddoc/perception/radar_node.md
simoooong
reviewed
Mar 27, 2026
simoooong
requested changes
Mar 27, 2026
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| Radar data is also used to support cross traffic detection at intersections. | ||
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| In particular, the measured velocity information allows reliable detection of fast approaching vehicles from the side. This improves decision-making in intersection scenarios, where dynamic objects are more relevant than purely static occupancy. |
Collaborator
There was a problem hiding this comment.
Maybe note that the radar data is not responsible for detecting any objects (if clustering is deactivated as per default), but just to assign motion data to existing detected objects (primarily lidar, vision), the radar node alone however cannot detect objects and points alone are not being used, only if they were able to be assigned to objects.
Updated instructions for loading checkpoints to replace the standard leaderboard route instead of commenting it out.
Updated the message type for the Speed topic from sensor_msgs/CarlaSpeedometer to carla_msgs/CarlaSpeedometer.
Added disclaimer about angular velocity not being considered in motion calculations.
Corrected the numbering of steps in the load_checkpoints.md file.
samuel-ibele
approved these changes
Mar 28, 2026
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Description
Updating the documentation
Fixes # (issue)
Type of change
Please delete options that are not relevant.
Does this PR introduce a breaking change?
NO
Most important changes
Documentation updated
Checklist:
Summary by CodeRabbit