radar_scan_to_pointcloud2 radar_scan_to_pointcloud2_node Convert from radar_msgs::msg::RadarScan to sensor_msgs::msg::PointCloud2 Calculation cost O(n) n: The number of radar return Input topics Name Type Description input/radar radar_msgs::msg::RadarScan RadarScan Output topics Name Type Description output/amplitude_pointcloud sensor_msgs::msg::PointCloud2 PointCloud2 radar pointcloud whose intensity is amplitude. output/doppler_pointcloud sensor_msgs::msg::PointCloud2 PointCloud2 radar pointcloud whose intensity is doppler velocity. Parameters Name Type Description publish_amplitude_pointcloud bool Whether publish radar pointcloud whose intensity is amplitude. Default is true. publish_doppler_pointcloud bool Whether publish radar pointcloud whose intensity is doppler velocity. Default is false. How to launch ros2 launch radar_scan_to_pointcloud2 radar_scan_to_pointcloud2.launch.xml