Perception: add radar to build

modules/perception/onboard/component/BUILD

@@ -15,12 +15,14 @@ cc_library(
     srcs = [
         "detection_component.cc",
         "fusion_component.cc",
+        "radar_detection_component.cc",
         "recognition_component.cc",
     ],
     hdrs = [
         "detection_component.h",
         "fusion_component.h",
         "lidar_inner_component_messages.h",
+        "radar_detection_component.h",
         "recognition_component.h",
     ],
     copts = [
@@ -54,7 +56,26 @@ cc_library(
         "//modules/perception/onboard/msg_serializer",
         "//modules/perception/onboard/proto:fusion_component_config_cc_proto",
         "//modules/perception/onboard/proto:lidar_component_config_cc_proto",
+        "//modules/perception/onboard/proto:radar_component_config_cc_proto",
         "//modules/perception/onboard/transform_wrapper",
+        "//modules/perception/radar/app:radar_obstacle_perception",
+        "//modules/perception/radar/common:radar_util",
+        "//modules/perception/radar/lib/detector/conti_ars_detector",
+        "//modules/perception/radar/lib/dummy:dummy_algorithms",
+        "//modules/perception/radar/lib/interface:base_detector",
+        "//modules/perception/radar/lib/interface:base_filter",
+        "//modules/perception/radar/lib/interface:base_matcher",
+        "//modules/perception/radar/lib/interface:base_preprocessor",
+        "//modules/perception/radar/lib/interface:base_radar_obstacle_perception",
+        "//modules/perception/radar/lib/interface:base_roi_filter",
+        "//modules/perception/radar/lib/interface:base_tracker",
+        "//modules/perception/radar/lib/preprocessor/conti_ars_preprocessor",
+        "//modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter",
+        "//modules/perception/radar/lib/tracker/common:radar_track",
+        "//modules/perception/radar/lib/tracker/common:radar_track_manager",
+        "//modules/perception/radar/lib/tracker/conti_ars_tracker",
+        "//modules/perception/radar/lib/tracker/filter:adaptive_kalman_filter",
+        "//modules/perception/radar/lib/tracker/matcher:hm_matcher",
         "//modules/transform:tf2_buffer_lib",
         "@eigen",
     ],

modules/perception/production/dag/dag_streaming_perception.dag

@@ -2,10 +2,10 @@ module_config {
   module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
 
  components {
-    class_name : "SegmentationComponent"
+    class_name : "DetectionComponent"
     config {
-      name: "Velodyne128Segmentation"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf.pb.txt"
+      name: "Velodyne128Detection"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf.pb.txt"
       flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
       readers {
           channel: "/apollo/sensor/lidar128/compensator/PointCloud2"
@@ -14,10 +14,10 @@ module_config {
   }
 
  components {
-    class_name : "SegmentationComponent"
+    class_name : "DetectionComponent"
     config {
-      name: "Velodyne16Segmentation"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_segmentation_conf.pb.txt"
+      name: "Velodyne16Detection"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_detection_conf.pb.txt"
       readers {
           channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
         }
@@ -30,7 +30,7 @@ module_config {
       name: "RecognitionComponent"
       config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt"
       readers {
-          channel: "/perception/inner/SegmentationObjects"
+          channel: "/perception/inner/DetectionObjects"
         }
     }
   }