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Pull request overview
This PR replaces the inline Doppler extraction functionality with an external spinning_radar_doppler submodule and adds a new Doppler-based odometry module.
Changes:
- Integrated the
spinning_radar_dopplersubmodule to handle Doppler velocity extraction - Added a new
OdometryDopplerModulefor direct Doppler-based odometry estimation - Removed inline implementations of Doppler processing functions in favor of the submodule's API
Reviewed changes
Copilot reviewed 15 out of 15 changed files in this pull request and generated 2 comments.
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| File | Description |
|---|---|
| .gitmodules | Added submodule reference for spinning-radar-doppler |
| main/src/deps/spinning-radar-doppler | New submodule commit reference |
| main/src/vtr_radar/package.xml | Added spinning_radar_doppler dependency |
| main/src/vtr_radar/CMakeLists.txt | Added spinning_radar_doppler package dependency |
| main/src/vtr_radar_lidar/CMakeLists.txt | Added spinning_radar_doppler package dependency |
| main/src/vtr_radar/include/vtr_radar/cache.hpp | Replaced local DopplerScan type with srd::DopplerScan from submodule |
| main/src/vtr_radar/include/vtr_radar/data_types/azimuth.hpp | Removed local Azimuth struct definition (now provided by submodule) |
| main/src/vtr_radar/include/vtr_radar/modules/preprocessing/extraction/doppler_extraction_module.hpp | Updated configuration parameters and removed unused fields |
| main/src/vtr_radar/src/modules/preprocessing/extraction/doppler_extraction_module.cpp | Replaced inline Doppler extraction logic with calls to submodule API |
| main/src/vtr_radar/src/pipeline.cpp | Added prior velocity initialization for Doppler extraction |
| main/src/vtr_radar/include/vtr_radar/modules/modules.hpp | Added odometry_doppler_module.hpp include |
| main/src/vtr_radar/include/vtr_radar/modules/odometry/odometry_doppler_module.hpp | New Doppler-based odometry module header |
| main/src/vtr_radar/src/modules/odometry/odometry_doppler_module.cpp | New Doppler-based odometry module implementation |
| main/src/vtr_radar/src/modules/odometry/odometry_icp_module.cpp | Fixed variable name check and added OpenMP parallelization |
| main/src/vtr_lidar/src/modules/odometry/odometry_icp_module.cpp | Fixed incorrect log category from radar to lidar |
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main/src/vtr_radar/src/modules/odometry/odometry_doppler_module.cpp
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main/src/vtr_radar/include/vtr_radar/modules/odometry/odometry_doppler_module.hpp
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…e.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
…_doppler_module.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
a-krawciw
requested changes
Feb 22, 2026
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a-krawciw
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a-krawciw
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I think it's close but cleaning up the dependencies should make it easier to manage.
main/src/vtr_radar/src/modules/preprocessing/extraction/doppler_extraction_module.cpp
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Swapped over the using the stand-alone spinning radar Doppler submodule instead of copying functionality within VTR functions. Additionally added a Doppler-based odometry module using this submodule.