添加了点云转2d
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.gitignore
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4
.gitignore
vendored
@ -49,4 +49,6 @@ qtcreator-*
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.#*
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.#*
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# Catkin custom files
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# Catkin custom files
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CATKIN_IGNORE
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CATKIN_IGNORE
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.catkin_workspace
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2
ptl.sh
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2
ptl.sh
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source devel/setup.bash
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roslaunch pointcloud_to_laserscan point_to_scan.launch
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72
src/pointcloud_to_laserscan/CHANGELOG.rst
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72
src/pointcloud_to_laserscan/CHANGELOG.rst
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package pointcloud_to_laserscan
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.4.0 (2017-11-14)
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------------------
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* Added inf_epsilon parameter that determines the value added to max range when use_infs parameter is set to false
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* Merge pull request `#11 <https://github.com/ros-perception/pointcloud_to_laserscan/issues/11>`_ from ros-perception/mikaelarguedas-patch-1
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update to use non deprecated pluginlib macro
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* Migrate to package format 2; add roslint
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* Add sane parameter defaults; fixup lint warnings
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* update to use non deprecated pluginlib macro
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* Contributors: Mikael Arguedas, Paul Bovbel, Prasanna Kannappan
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1.3.1 (2017-04-26)
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------------------
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* Merge pull request `#4 <https://github.com/ros-perception/pointcloud_to_laserscan/issues/4>`_ from yoshimalucky/fix-miscalculation-in-angle-increment
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Fixed miscalculation in angle_increment in the launch files.
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* fixed miscalculation in angle_increment in the launchfiles.
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* Contributors: Paul Bovbel, yoshimalucky
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1.3.0 (2015-06-09)
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------------------
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* Fix pointcloud to laserscan transform tolerance issues
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* Move pointcloud_to_laserscan to new repository
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* Contributors: Paul Bovbel
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1.2.7 (2015-06-08)
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------------------
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* Cleanup pointcloud_to_laserscan launch files
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* Contributors: Paul Bovbel
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1.2.6 (2015-02-04)
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------------------
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* Fix default value for concurrency
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* Fix multithreaded lazy pub sub
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* Contributors: Paul Bovbel
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1.2.5 (2015-01-20)
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------------------
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* Switch to tf_sensor_msgs for transform
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* Set parameters in sample launch files to default
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* Add tolerance parameter
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* Contributors: Paul Bovbel
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1.2.4 (2015-01-15)
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------------------
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* Remove stray dependencies
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* Refactor with tf2 and message filters
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* Remove roslaunch check
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* Fix regressions
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* Refactor to allow debug messages from node and nodelet
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* Contributors: Paul Bovbel
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1.2.3 (2015-01-10)
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------------------
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* add launch tests
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* refactor naming and fix nodelet export
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* set default target frame to empty
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* clean up package.xml
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* Contributors: Paul Bovbel
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1.2.2 (2014-10-25)
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------------------
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* clean up package.xml
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* Fix header reference
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* Fix flow
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* Fix pointer assertion
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* Finalize pointcloud to laserscan
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* Initial pointcloud to laserscan commit
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* Contributors: Paul Bovbel
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51
src/pointcloud_to_laserscan/CMakeLists.txt
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51
src/pointcloud_to_laserscan/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
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project(pointcloud_to_laserscan)
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find_package(catkin REQUIRED COMPONENTS
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message_filters
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nodelet
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roscpp
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sensor_msgs
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tf2
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tf2_ros
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tf2_sensor_msgs
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES pointcloud_to_laserscan
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CATKIN_DEPENDS roscpp message_filters nodelet sensor_msgs tf2 tf2_ros
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(pointcloud_to_laserscan src/pointcloud_to_laserscan_nodelet.cpp)
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target_link_libraries(pointcloud_to_laserscan ${catkin_LIBRARIES})
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add_executable(pointcloud_to_laserscan_node src/pointcloud_to_laserscan_node.cpp)
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target_link_libraries(pointcloud_to_laserscan_node pointcloud_to_laserscan ${catkin_LIBRARIES})
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install(TARGETS pointcloud_to_laserscan pointcloud_to_laserscan_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(FILES nodelets.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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if(CATKIN_ENABLE_TESTING)
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find_package(roslint REQUIRED)
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roslint_cpp()
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roslint_add_test()
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endif()
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2
src/pointcloud_to_laserscan/README.md
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2
src/pointcloud_to_laserscan/README.md
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# pointcloud_to_laserscan
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ROS1 Package for pointcloud_to_laserscan. Works well with ROS-Noetic
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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/*
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* Author: Paul Bovbel
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*/
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#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
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#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
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#include "ros/ros.h"
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#include "boost/thread/mutex.hpp"
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#include "nodelet/nodelet.h"
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#include "tf2_ros/buffer.h"
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#include "tf2_ros/transform_listener.h"
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#include "tf2_ros/message_filter.h"
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#include "message_filters/subscriber.h"
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#include "sensor_msgs/PointCloud2.h"
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namespace pointcloud_to_laserscan
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{
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typedef tf2_ros::MessageFilter<sensor_msgs::PointCloud2> MessageFilter;
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/**
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* Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot
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* pointcloud_to_laserscan implementation.
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*/
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class PointCloudToLaserScanNodelet : public nodelet::Nodelet
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{
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public:
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PointCloudToLaserScanNodelet();
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private:
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virtual void onInit();
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void cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg);
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void failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
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tf2_ros::filter_failure_reasons::FilterFailureReason reason);
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void connectCb();
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void disconnectCb();
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ros::NodeHandle nh_, private_nh_;
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ros::Publisher pub_;
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boost::mutex connect_mutex_;
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boost::shared_ptr<tf2_ros::Buffer> tf2_;
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boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
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boost::shared_ptr<MessageFilter> message_filter_;
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// ROS Parameters
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unsigned int input_queue_size_;
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std::string target_frame_;
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double tolerance_;
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double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
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bool use_inf_;
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double inf_epsilon_;
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};
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} // pointcloud_to_laserscan
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#endif // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
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52
src/pointcloud_to_laserscan/launch/point_to_scan.launch
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52
src/pointcloud_to_laserscan/launch/point_to_scan.launch
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<?xml version="1.0"?>
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<launch>
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<!-- run pointcloud_to_laserscan node -->
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<!--node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
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<remap from="cloud_in" to="/rslidar_points"/>
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<rosparam>
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# target_frame: rslidar # Leave disabled to output scan in pointcloud frame
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transform_tolerance: 0.01
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min_height: -0.4
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max_height: 1.0
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angle_min: -3.1415926 # -M_PI
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angle_max: 3.1415926 # M_PI
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angle_increment: 0.003 # 0.17degree
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scan_time: 0.1
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range_min: 0.2
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range_max: 100
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use_inf: true
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inf_epsilon: 1.0
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# Concurrency level, affects number of pointclouds queued for processing and number of threads used
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# 0 : Detect number of cores
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# 1 : Single threaded
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# 2->inf : Parallelism level
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concurrency_level: 1
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</rosparam>
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</node-->
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<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node"
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name="pointcloud_to_laserscan">
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<remap from="cloud_in" to="/cloud_registered_body"/>
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<remap from="scan" to="/scan"/>
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<param name="transform_tolerance" value="0.01" />
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<param name="min_height" value="-0.4" />
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<param name="max_height" value="1" />
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<param name="angle_min" value="-3.1425926" />
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<param name="angle_max" value="3.1415926" />
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<param name="angle_increment" value="0.007" />
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<param name="scan_time" value="0.1" />
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<param name="range_min" value="0.2" />
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<param name="range_max" value="100" />
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<param name="use_inf" value="true" />
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<param name="inf_epsilon" value="1.0" />
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<param name="concurrency_level" value="1" />
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</node>
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</launch>
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41
src/pointcloud_to_laserscan/launch/sample_node.launch
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41
src/pointcloud_to_laserscan/launch/sample_node.launch
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<?xml version="1.0"?>
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<launch>
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<arg name="camera" default="camera" />
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<!-- start sensor-->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="camera" default="$(arg camera)"/>
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</include>
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<!-- run pointcloud_to_laserscan node -->
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<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
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<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
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<remap from="scan" to="$(arg camera)/scan"/>
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<rosparam>
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target_frame: camera_link # Leave disabled to output scan in pointcloud frame
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transform_tolerance: 0.01
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min_height: 0.0
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max_height: 1.0
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angle_min: -1.5708 # -M_PI/2
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angle_max: 1.5708 # M_PI/2
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angle_increment: 0.0087 # M_PI/360.0
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scan_time: 0.3333
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range_min: 0.45
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range_max: 4.0
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use_inf: true
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inf_epsilon: 1.0
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# Concurrency level, affects number of pointclouds queued for processing and number of threads used
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# 0 : Detect number of cores
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# 1 : Single threaded
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# 2->inf : Parallelism level
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concurrency_level: 1
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</rosparam>
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</node>
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</launch>
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41
src/pointcloud_to_laserscan/launch/sample_nodelet.launch
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41
src/pointcloud_to_laserscan/launch/sample_nodelet.launch
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<?xml version="1.0"?>
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<launch>
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<arg name="camera" default="camera" />
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<!-- start sensor-->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="camera" default="$(arg camera)"/>
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</include>
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<!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
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<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet $(arg camera)_nodelet_manager">
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<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
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<remap from="scan" to="$(arg camera)/scan"/>
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<rosparam>
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target_frame: camera_link # Leave disabled to output scan in pointcloud frame
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transform_tolerance: 0.01
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min_height: 0.0
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max_height: 1.0
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angle_min: -1.5708 # -M_PI/2
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angle_max: 1.5708 # M_PI/2
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angle_increment: 0.0087 # M_PI/360.0
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scan_time: 0.3333
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range_min: 0.45
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range_max: 4.0
|
||||||
|
use_inf: true
|
||||||
|
inf_epsilon: 1.0
|
||||||
|
|
||||||
|
# Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager
|
||||||
|
# 0 : Detect number of cores
|
||||||
|
# 1 : Single threaded
|
||||||
|
# 2->inf : Parallelism level
|
||||||
|
concurrency_level: 1
|
||||||
|
</rosparam>
|
||||||
|
|
||||||
|
</node>
|
||||||
|
|
||||||
|
</launch>
|
||||||
@ -0,0 +1,36 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<launch>
|
||||||
|
|
||||||
|
<!-- run pointcloud_to_laserscan node -->
|
||||||
|
<node pkg="tf" type="static_transform_publisher" name="baselink2kinect_scan"
|
||||||
|
args="0.1 0 0.3 0 0 0 base_link kinect_link 100" />
|
||||||
|
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
|
||||||
|
|
||||||
|
<remap from="cloud_in" to="/kinect/depth/points"/>
|
||||||
|
<remap from="scan" to="/kinect/scan"/>
|
||||||
|
<rosparam>
|
||||||
|
target_frame: kinect_link # Leave disabled to output scan in pointcloud frame
|
||||||
|
transform_tolerance: 0.1
|
||||||
|
min_height: -0.2
|
||||||
|
max_height: 1.0
|
||||||
|
|
||||||
|
angle_min: -0.79 # -M_PI
|
||||||
|
angle_max: 0.79 # M_PI
|
||||||
|
angle_increment: 0.003 # 0.17degree
|
||||||
|
scan_time: 0.05
|
||||||
|
range_min: 0.45
|
||||||
|
range_max: 5.0
|
||||||
|
use_inf: true
|
||||||
|
inf_epsilon: 1.0
|
||||||
|
|
||||||
|
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
|
||||||
|
# 0 : Detect number of cores
|
||||||
|
# 1 : Single threaded
|
||||||
|
# 2->inf : Parallelism level
|
||||||
|
concurrency_level: 1
|
||||||
|
</rosparam>
|
||||||
|
|
||||||
|
</node>
|
||||||
|
|
||||||
|
</launch>
|
||||||
@ -0,0 +1,36 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<launch>
|
||||||
|
|
||||||
|
<!-- run pointcloud_to_laserscan node -->
|
||||||
|
<node pkg="tf" type="static_transform_publisher" name="baselink2kinect_scan"
|
||||||
|
args="-0.15 0 0.3 0 0 0 base_link kinect_link 100" />
|
||||||
|
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
|
||||||
|
|
||||||
|
<remap from="cloud_in" to="/kinect/depth/points"/>
|
||||||
|
<remap from="scan" to="/kinect/scan"/>
|
||||||
|
<rosparam>
|
||||||
|
target_frame: kinect_link # Leave disabled to output scan in pointcloud frame
|
||||||
|
transform_tolerance: 0.1
|
||||||
|
min_height: -0.2
|
||||||
|
max_height: 1.0
|
||||||
|
|
||||||
|
angle_min: -0.79 # -M_PI
|
||||||
|
angle_max: 0.79 # M_PI
|
||||||
|
angle_increment: 0.003 # 0.17degree
|
||||||
|
scan_time: 0.05
|
||||||
|
range_min: 0.45
|
||||||
|
range_max: 5.0
|
||||||
|
use_inf: true
|
||||||
|
inf_epsilon: 1.0
|
||||||
|
|
||||||
|
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
|
||||||
|
# 0 : Detect number of cores
|
||||||
|
# 1 : Single threaded
|
||||||
|
# 2->inf : Parallelism level
|
||||||
|
concurrency_level: 1
|
||||||
|
</rosparam>
|
||||||
|
|
||||||
|
</node>
|
||||||
|
|
||||||
|
</launch>
|
||||||
34
src/pointcloud_to_laserscan/launch/xiaoqiang_rslidar.launch
Normal file
34
src/pointcloud_to_laserscan/launch/xiaoqiang_rslidar.launch
Normal file
@ -0,0 +1,34 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<launch>
|
||||||
|
|
||||||
|
<!-- run pointcloud_to_laserscan node -->
|
||||||
|
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
|
||||||
|
|
||||||
|
<remap from="cloud_in" to="/rslidar_points"/>
|
||||||
|
<remap from="scan" to="/rslidar/scan"/>
|
||||||
|
<rosparam>
|
||||||
|
# target_frame: rslidar # Leave disabled to output scan in pointcloud frame
|
||||||
|
transform_tolerance: 0.01
|
||||||
|
min_height: -0.4
|
||||||
|
max_height: 1.0
|
||||||
|
|
||||||
|
angle_min: -3.1415926 # -M_PI
|
||||||
|
angle_max: 3.1415926 # M_PI
|
||||||
|
angle_increment: 0.003 # 0.17degree
|
||||||
|
scan_time: 0.1
|
||||||
|
range_min: 0.2
|
||||||
|
range_max: 100
|
||||||
|
use_inf: true
|
||||||
|
inf_epsilon: 1.0
|
||||||
|
|
||||||
|
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
|
||||||
|
# 0 : Detect number of cores
|
||||||
|
# 1 : Single threaded
|
||||||
|
# 2->inf : Parallelism level
|
||||||
|
concurrency_level: 1
|
||||||
|
</rosparam>
|
||||||
|
|
||||||
|
</node>
|
||||||
|
|
||||||
|
</launch>
|
||||||
11
src/pointcloud_to_laserscan/nodelets.xml
Normal file
11
src/pointcloud_to_laserscan/nodelets.xml
Normal file
@ -0,0 +1,11 @@
|
|||||||
|
<library path="lib/libpointcloud_to_laserscan">
|
||||||
|
|
||||||
|
<class name="pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet"
|
||||||
|
type="pointcloud_to_laserscan::PointCloudToLaserScanNodelet"
|
||||||
|
base_class_type="nodelet::Nodelet">
|
||||||
|
<description>
|
||||||
|
Nodelet to convert sensor_msgs/PointCloud2 to sensor_msgs/LaserScans.
|
||||||
|
</description>
|
||||||
|
</class>
|
||||||
|
|
||||||
|
</library>
|
||||||
32
src/pointcloud_to_laserscan/package.xml
Normal file
32
src/pointcloud_to_laserscan/package.xml
Normal file
@ -0,0 +1,32 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<package format="2">
|
||||||
|
<name>pointcloud_to_laserscan</name>
|
||||||
|
<version>1.4.0</version>
|
||||||
|
<description>Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).</description>
|
||||||
|
|
||||||
|
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
|
||||||
|
<author email="paul@bovbel.com">Paul Bovbel</author>
|
||||||
|
<author>Tully Foote</author>
|
||||||
|
|
||||||
|
<license>BSD</license>
|
||||||
|
|
||||||
|
<url type="website">http://ros.org/wiki/perception_pcl</url>
|
||||||
|
<url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
|
||||||
|
<url type="repository">https://github.com/ros-perception/perception_pcl</url>
|
||||||
|
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<depend>message_filters</depend>
|
||||||
|
<depend>nodelet</depend>
|
||||||
|
<depend>roscpp</depend>
|
||||||
|
<depend>sensor_msgs</depend>
|
||||||
|
<depend>tf2</depend>
|
||||||
|
<depend>tf2_ros</depend>
|
||||||
|
<depend>tf2_sensor_msgs</depend>
|
||||||
|
|
||||||
|
<test_depend>roslint</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<nodelet plugin="${prefix}/nodelets.xml"/>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
229
src/pointcloud_to_laserscan/rviz/kinect.rviz
Normal file
229
src/pointcloud_to_laserscan/rviz/kinect.rviz
Normal file
@ -0,0 +1,229 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz/Displays
|
||||||
|
Help Height: 78
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /Status1
|
||||||
|
- /Grid1
|
||||||
|
- /PointCloud21
|
||||||
|
- /LaserScan1
|
||||||
|
Splitter Ratio: 0.689373314
|
||||||
|
Tree Height: 722
|
||||||
|
- Class: rviz/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Pose Estimate1
|
||||||
|
- /2D Nav Goal1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.588679016
|
||||||
|
- Class: rviz/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: rviz/Time
|
||||||
|
Experimental: false
|
||||||
|
Name: Time
|
||||||
|
SyncMode: 0
|
||||||
|
SyncSource: PointCloud2
|
||||||
|
Toolbars:
|
||||||
|
toolButtonStyle: 2
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.0299999993
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 200
|
||||||
|
Reference Frame: kinect_link
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 2.6387887
|
||||||
|
Min Value: -0.46631065
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: AxisColor
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: PointCloud2
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Queue Size: 10
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.00999999978
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic: /kinect/depth/points
|
||||||
|
Unreliable: false
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz/LaserScan
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: Intensity
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: LaserScan
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Queue Size: 10
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.00999999978
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic: /kinect/scan
|
||||||
|
Unreliable: false
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz/RobotModel
|
||||||
|
Collision Enabled: false
|
||||||
|
Enabled: true
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
Link Tree Style: Links in Alphabetic Order
|
||||||
|
base_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
front1_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
front2_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
kinect_Link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
left_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
lidar_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
right_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
Name: RobotModel
|
||||||
|
Robot Description: robot_description
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Visual Enabled: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Default Light: true
|
||||||
|
Fixed Frame: kinect_link
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz/MoveCamera
|
||||||
|
- Class: rviz/Select
|
||||||
|
- Class: rviz/FocusCamera
|
||||||
|
- Class: rviz/Measure
|
||||||
|
- Class: rviz/SetInitialPose
|
||||||
|
Topic: /initialpose
|
||||||
|
- Class: rviz/SetGoal
|
||||||
|
Topic: /move_base_simple/goal
|
||||||
|
- Class: rviz/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic: /clicked_point
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz/Orbit
|
||||||
|
Distance: 4.48610306
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.0599999987
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: 1.73725533
|
||||||
|
Y: -0.717763484
|
||||||
|
Z: -0.839548349
|
||||||
|
Focal Shape Fixed Size: true
|
||||||
|
Focal Shape Size: 0.0500000007
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.00999999978
|
||||||
|
Pitch: 0.46479708
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: Orbit (rviz)
|
||||||
|
Yaw: 2.29040217
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 1032
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: true
|
||||||
|
QMainWindow State: 000000ff00000000fd00000004000000000000026e0000036dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002a0000036d000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002b5000000fa0000000000000000000000010000010f0000036dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002a0000036d000000ba00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074f00000047fc0100000002fb0000000800540069006d006501000000000000074f0000031800fffffffb0000000800540069006d00650100000000000004500000000000000000000004db0000036d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1871
|
||||||
|
X: 49
|
||||||
|
Y: 24
|
||||||
233
src/pointcloud_to_laserscan/rviz/rsldiar.rviz
Normal file
233
src/pointcloud_to_laserscan/rviz/rsldiar.rviz
Normal file
@ -0,0 +1,233 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz/Displays
|
||||||
|
Help Height: 89
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /Status1
|
||||||
|
- /PointCloud21
|
||||||
|
- /PointCloud21/Autocompute Value Bounds1
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
Tree Height: 735
|
||||||
|
- Class: rviz/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Pose Estimate1
|
||||||
|
- /2D Nav Goal1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.588679016
|
||||||
|
- Class: rviz/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: rviz/Time
|
||||||
|
Experimental: false
|
||||||
|
Name: Time
|
||||||
|
SyncMode: 0
|
||||||
|
SyncSource: PointCloud2
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 0.5
|
||||||
|
Class: rviz/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.0299999993
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 20
|
||||||
|
Reference Frame: base_footprint
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 1.67712891
|
||||||
|
Min Value: -1.40163112
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: Intensity
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 0
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: PointCloud2
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Queue Size: 255
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 2
|
||||||
|
Size (m): 0.00999999978
|
||||||
|
Style: Points
|
||||||
|
Topic: /rslidar_points
|
||||||
|
Unreliable: true
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Class: rviz/Axes
|
||||||
|
Enabled: false
|
||||||
|
Length: 1
|
||||||
|
Name: Axes
|
||||||
|
Radius: 0.100000001
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: false
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz/RobotModel
|
||||||
|
Collision Enabled: false
|
||||||
|
Enabled: true
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
Link Tree Style: Links in Alphabetic Order
|
||||||
|
base_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
front1_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
front2_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
kinect_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
left_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
lidar_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
right_wheel:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
Name: RobotModel
|
||||||
|
Robot Description: robot_description
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Visual Enabled: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz/LaserScan
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: Intensity
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: LaserScan
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Queue Size: 10
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.00999999978
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic: /rslidar/scan
|
||||||
|
Unreliable: false
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 121; 129; 128
|
||||||
|
Default Light: true
|
||||||
|
Fixed Frame: rslidar
|
||||||
|
Frame Rate: 10
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz/MoveCamera
|
||||||
|
- Class: rviz/Select
|
||||||
|
- Class: rviz/FocusCamera
|
||||||
|
- Class: rviz/Measure
|
||||||
|
- Class: rviz/SetInitialPose
|
||||||
|
Topic: /initialpose
|
||||||
|
- Class: rviz/SetGoal
|
||||||
|
Topic: /move_base_simple/goal
|
||||||
|
- Class: rviz/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic: /clicked_point
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz/ThirdPersonFollower
|
||||||
|
Distance: 8.04747581
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.0599999987
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: -0.50192821
|
||||||
|
Y: 0.66879797
|
||||||
|
Z: -2.41525704e-05
|
||||||
|
Focal Shape Fixed Size: true
|
||||||
|
Focal Shape Size: 0.0500000007
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.00999999978
|
||||||
|
Pitch: 1.56979632
|
||||||
|
Target Frame: aft_mapped
|
||||||
|
Value: ThirdPersonFollower (rviz)
|
||||||
|
Yaw: 2.59856272
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 1056
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: true
|
||||||
|
QMainWindow State: 000000ff00000000fd00000004000000000000016f00000385fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002a00000385000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000394000000ba00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074f00000047fc0100000002fb0000000800540069006d006501000000000000074f0000031800fffffffb0000000800540069006d00650100000000000004500000000000000000000005da0000038500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1871
|
||||||
|
X: 49
|
||||||
|
Y: 24
|
||||||
@ -0,0 +1,65 @@
|
|||||||
|
/*
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2010-2012, Willow Garage, Inc.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Author: Paul Bovbel
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <ros/ros.h>
|
||||||
|
#include <nodelet/loader.h>
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
ros::init(argc, argv, "pointcloud_to_laserscan_node");
|
||||||
|
ros::NodeHandle private_nh("~");
|
||||||
|
int concurrency_level;
|
||||||
|
private_nh.param<int>("concurrency_level", concurrency_level, 0);
|
||||||
|
|
||||||
|
nodelet::Loader nodelet;
|
||||||
|
nodelet::M_string remap(ros::names::getRemappings());
|
||||||
|
nodelet::V_string nargv;
|
||||||
|
std::string nodelet_name = ros::this_node::getName();
|
||||||
|
nodelet.load(nodelet_name, "pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet", remap, nargv);
|
||||||
|
|
||||||
|
boost::shared_ptr<ros::MultiThreadedSpinner> spinner;
|
||||||
|
if(concurrency_level) {
|
||||||
|
spinner.reset(new ros::MultiThreadedSpinner(concurrency_level));
|
||||||
|
}else{
|
||||||
|
spinner.reset(new ros::MultiThreadedSpinner());
|
||||||
|
}
|
||||||
|
spinner->spin();
|
||||||
|
return 0;
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,248 @@
|
|||||||
|
/*
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2010-2012, Willow Garage, Inc.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Author: Paul Bovbel
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h>
|
||||||
|
#include <sensor_msgs/LaserScan.h>
|
||||||
|
#include <pluginlib/class_list_macros.h>
|
||||||
|
#include <sensor_msgs/point_cloud2_iterator.h>
|
||||||
|
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
|
||||||
|
|
||||||
|
namespace pointcloud_to_laserscan
|
||||||
|
{
|
||||||
|
|
||||||
|
PointCloudToLaserScanNodelet::PointCloudToLaserScanNodelet() {}
|
||||||
|
|
||||||
|
void PointCloudToLaserScanNodelet::onInit()
|
||||||
|
{
|
||||||
|
boost::mutex::scoped_lock lock(connect_mutex_);
|
||||||
|
private_nh_ = getPrivateNodeHandle();
|
||||||
|
|
||||||
|
private_nh_.param<std::string>("target_frame", target_frame_, "");
|
||||||
|
private_nh_.param<double>("transform_tolerance", tolerance_, 0.01);
|
||||||
|
private_nh_.param<double>("min_height", min_height_, std::numeric_limits<double>::min());
|
||||||
|
private_nh_.param<double>("max_height", max_height_, std::numeric_limits<double>::max());
|
||||||
|
|
||||||
|
private_nh_.param<double>("angle_min", angle_min_, - M_PI);
|
||||||
|
private_nh_.param<double>("angle_max", angle_max_, M_PI);
|
||||||
|
private_nh_.param<double>("angle_increment", angle_increment_, M_PI / 180.0);
|
||||||
|
private_nh_.param<double>("scan_time", scan_time_, 1.0 / 30.0);
|
||||||
|
private_nh_.param<double>("range_min", range_min_, 0.0);
|
||||||
|
private_nh_.param<double>("range_max", range_max_, std::numeric_limits<double>::max());
|
||||||
|
private_nh_.param<double>("inf_epsilon", inf_epsilon_, 1.0);
|
||||||
|
|
||||||
|
int concurrency_level;
|
||||||
|
private_nh_.param<int>("concurrency_level", concurrency_level, 1);
|
||||||
|
private_nh_.param<bool>("use_inf", use_inf_, true);
|
||||||
|
|
||||||
|
//Check if explicitly single threaded, otherwise, let nodelet manager dictate thread pool size
|
||||||
|
if (concurrency_level == 1)
|
||||||
|
{
|
||||||
|
nh_ = getNodeHandle();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
nh_ = getMTNodeHandle();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Only queue one pointcloud per running thread
|
||||||
|
if (concurrency_level > 0)
|
||||||
|
{
|
||||||
|
input_queue_size_ = concurrency_level;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
input_queue_size_ = boost::thread::hardware_concurrency();
|
||||||
|
}
|
||||||
|
|
||||||
|
// if pointcloud target frame specified, we need to filter by transform availability
|
||||||
|
if (!target_frame_.empty())
|
||||||
|
{
|
||||||
|
tf2_.reset(new tf2_ros::Buffer());
|
||||||
|
tf2_listener_.reset(new tf2_ros::TransformListener(*tf2_));
|
||||||
|
message_filter_.reset(new MessageFilter(sub_, *tf2_, target_frame_, input_queue_size_, nh_));
|
||||||
|
message_filter_->registerCallback(boost::bind(&PointCloudToLaserScanNodelet::cloudCb, this, _1));
|
||||||
|
message_filter_->registerFailureCallback(boost::bind(&PointCloudToLaserScanNodelet::failureCb, this, _1, _2));
|
||||||
|
}
|
||||||
|
else // otherwise setup direct subscription
|
||||||
|
{
|
||||||
|
sub_.registerCallback(boost::bind(&PointCloudToLaserScanNodelet::cloudCb, this, _1));
|
||||||
|
}
|
||||||
|
|
||||||
|
pub_ = nh_.advertise<sensor_msgs::LaserScan>("scan", 10,
|
||||||
|
boost::bind(&PointCloudToLaserScanNodelet::connectCb, this),
|
||||||
|
boost::bind(&PointCloudToLaserScanNodelet::disconnectCb, this));
|
||||||
|
}
|
||||||
|
|
||||||
|
void PointCloudToLaserScanNodelet::connectCb()
|
||||||
|
{
|
||||||
|
boost::mutex::scoped_lock lock(connect_mutex_);
|
||||||
|
if (pub_.getNumSubscribers() > 0 && sub_.getSubscriber().getNumPublishers() == 0)
|
||||||
|
{
|
||||||
|
NODELET_INFO("Got a subscriber to scan, starting subscriber to pointcloud");
|
||||||
|
sub_.subscribe(nh_, "cloud_in", input_queue_size_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void PointCloudToLaserScanNodelet::disconnectCb()
|
||||||
|
{
|
||||||
|
boost::mutex::scoped_lock lock(connect_mutex_);
|
||||||
|
if (pub_.getNumSubscribers() == 0)
|
||||||
|
{
|
||||||
|
NODELET_INFO("No subscibers to scan, shutting down subscriber to pointcloud");
|
||||||
|
sub_.unsubscribe();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void PointCloudToLaserScanNodelet::failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
|
||||||
|
tf2_ros::filter_failure_reasons::FilterFailureReason reason)
|
||||||
|
{
|
||||||
|
NODELET_WARN_STREAM_THROTTLE(1.0, "Can't transform pointcloud from frame " << cloud_msg->header.frame_id << " to "
|
||||||
|
<< message_filter_->getTargetFramesString() << " at time " << cloud_msg->header.stamp << ", reason: " << reason);
|
||||||
|
}
|
||||||
|
|
||||||
|
void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
|
||||||
|
{
|
||||||
|
|
||||||
|
//build laserscan output
|
||||||
|
sensor_msgs::LaserScan output;
|
||||||
|
output.header = cloud_msg->header;
|
||||||
|
if (!target_frame_.empty())
|
||||||
|
{
|
||||||
|
output.header.frame_id = target_frame_;
|
||||||
|
}
|
||||||
|
|
||||||
|
output.angle_min = angle_min_;
|
||||||
|
output.angle_max = angle_max_;
|
||||||
|
output.angle_increment = angle_increment_;
|
||||||
|
output.time_increment = 0.0;
|
||||||
|
output.scan_time = scan_time_;
|
||||||
|
output.range_min = range_min_;
|
||||||
|
output.range_max = range_max_;
|
||||||
|
|
||||||
|
//determine amount of rays to create
|
||||||
|
uint32_t ranges_size = std::ceil((output.angle_max - output.angle_min) / output.angle_increment);
|
||||||
|
|
||||||
|
//determine if laserscan rays with no obstacle data will evaluate to infinity or max_range
|
||||||
|
if (use_inf_)
|
||||||
|
{
|
||||||
|
output.ranges.assign(ranges_size, std::numeric_limits<double>::infinity());
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
output.ranges.assign(ranges_size, output.range_max + inf_epsilon_);
|
||||||
|
}
|
||||||
|
|
||||||
|
sensor_msgs::PointCloud2ConstPtr cloud_out;
|
||||||
|
sensor_msgs::PointCloud2Ptr cloud;
|
||||||
|
|
||||||
|
// Transform cloud if necessary
|
||||||
|
if (!(output.header.frame_id == cloud_msg->header.frame_id))
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
cloud.reset(new sensor_msgs::PointCloud2);
|
||||||
|
tf2_->transform(*cloud_msg, *cloud, target_frame_, ros::Duration(tolerance_));
|
||||||
|
cloud_out = cloud;
|
||||||
|
}
|
||||||
|
catch (tf2::TransformException &ex)
|
||||||
|
{
|
||||||
|
NODELET_ERROR_STREAM("Transform failure: " << ex.what());
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
cloud_out = cloud_msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Iterate through pointcloud
|
||||||
|
for (sensor_msgs::PointCloud2ConstIterator<float>
|
||||||
|
iter_x(*cloud_out, "x"), iter_y(*cloud_out, "y"), iter_z(*cloud_out, "z");
|
||||||
|
iter_x != iter_x.end();
|
||||||
|
++iter_x, ++iter_y, ++iter_z)
|
||||||
|
{
|
||||||
|
|
||||||
|
if (std::isnan(*iter_x) || std::isnan(*iter_y) || std::isnan(*iter_z))
|
||||||
|
{
|
||||||
|
NODELET_DEBUG("rejected for nan in point(%f, %f, %f)\n", *iter_x, *iter_y, *iter_z);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (*iter_z > max_height_ || *iter_z < min_height_)
|
||||||
|
{
|
||||||
|
NODELET_DEBUG("rejected for height %f not in range (%f, %f)\n", *iter_z, min_height_, max_height_);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
double range = hypot(*iter_x, *iter_y);
|
||||||
|
if (range < range_min_)
|
||||||
|
{
|
||||||
|
NODELET_DEBUG("rejected for range %f below minimum value %f. Point: (%f, %f, %f)", range, range_min_, *iter_x, *iter_y,
|
||||||
|
*iter_z);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
if (range > range_max_)
|
||||||
|
{
|
||||||
|
NODELET_DEBUG("rejected for range %f above maximum value %f. Point: (%f, %f, %f)", range, range_max_, *iter_x, *iter_y,
|
||||||
|
*iter_z);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
double angle = atan2(*iter_y, *iter_x);
|
||||||
|
if (angle < output.angle_min || angle > output.angle_max)
|
||||||
|
{
|
||||||
|
NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output.angle_min, output.angle_max);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
//overwrite range at laserscan ray if new range is smaller
|
||||||
|
int index = (angle - output.angle_min) / output.angle_increment;
|
||||||
|
if (range < output.ranges[index])
|
||||||
|
{
|
||||||
|
output.ranges[index] = range;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
pub_.publish(output);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
PLUGINLIB_EXPORT_CLASS(pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet)
|
||||||
@ -11,13 +11,13 @@
|
|||||||
"log_data_port": 56500
|
"log_data_port": 56500
|
||||||
},
|
},
|
||||||
"host_net_info" : {
|
"host_net_info" : {
|
||||||
"cmd_data_ip" : "192.168.1.5",
|
"cmd_data_ip" : "192.168.1.50",
|
||||||
"cmd_data_port": 56101,
|
"cmd_data_port": 56101,
|
||||||
"push_msg_ip": "192.168.1.5",
|
"push_msg_ip": "192.168.1.50",
|
||||||
"push_msg_port": 56201,
|
"push_msg_port": 56201,
|
||||||
"point_data_ip": "192.168.1.5",
|
"point_data_ip": "192.168.1.50",
|
||||||
"point_data_port": 56301,
|
"point_data_port": 56301,
|
||||||
"imu_data_ip" : "192.168.1.5",
|
"imu_data_ip" : "192.168.1.50",
|
||||||
"imu_data_port": 56401,
|
"imu_data_port": 56401,
|
||||||
"log_data_ip" : "",
|
"log_data_ip" : "",
|
||||||
"log_data_port": 56501
|
"log_data_port": 56501
|
||||||
@ -25,7 +25,7 @@
|
|||||||
},
|
},
|
||||||
"lidar_configs" : [
|
"lidar_configs" : [
|
||||||
{
|
{
|
||||||
"ip" : "192.168.1.12",
|
"ip" : "192.168.1.176",
|
||||||
"pcl_data_type" : 1,
|
"pcl_data_type" : 1,
|
||||||
"pattern_mode" : 0,
|
"pattern_mode" : 0,
|
||||||
"extrinsic_parameter" : {
|
"extrinsic_parameter" : {
|
||||||
|
|||||||
@ -0,0 +1 @@
|
|||||||
|
Subproject commit 7fae5d1f9c0d9f6a64c6ac936f2239b9ee9cb18d
|
||||||
207
src/rc_navigation/CMakeLists.txt
Normal file
207
src/rc_navigation/CMakeLists.txt
Normal file
@ -0,0 +1,207 @@
|
|||||||
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
|
project(rc_navigation)
|
||||||
|
|
||||||
|
## Compile as C++11, supported in ROS Kinetic and newer
|
||||||
|
# add_compile_options(-std=c++11)
|
||||||
|
|
||||||
|
## Find catkin macros and libraries
|
||||||
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||||
|
## is used, also find other catkin packages
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
amcl
|
||||||
|
gmapping
|
||||||
|
map_server
|
||||||
|
move_base
|
||||||
|
)
|
||||||
|
|
||||||
|
## System dependencies are found with CMake's conventions
|
||||||
|
# find_package(Boost REQUIRED COMPONENTS system)
|
||||||
|
|
||||||
|
|
||||||
|
## Uncomment this if the package has a setup.py. This macro ensures
|
||||||
|
## modules and global scripts declared therein get installed
|
||||||
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||||
|
# catkin_python_setup()
|
||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS messages, services and actions ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build messages, services or actions from within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||||
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend tag for "message_generation"
|
||||||
|
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||||
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||||
|
## but can be declared for certainty nonetheless:
|
||||||
|
## * add a exec_depend tag for "message_runtime"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||||
|
## catkin_package(CATKIN_DEPENDS ...)
|
||||||
|
## * uncomment the add_*_files sections below as needed
|
||||||
|
## and list every .msg/.srv/.action file to be processed
|
||||||
|
## * uncomment the generate_messages entry below
|
||||||
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||||
|
|
||||||
|
## Generate messages in the 'msg' folder
|
||||||
|
# add_message_files(
|
||||||
|
# FILES
|
||||||
|
# Message1.msg
|
||||||
|
# Message2.msg
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate services in the 'srv' folder
|
||||||
|
# add_service_files(
|
||||||
|
# FILES
|
||||||
|
# Service1.srv
|
||||||
|
# Service2.srv
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate actions in the 'action' folder
|
||||||
|
# add_action_files(
|
||||||
|
# FILES
|
||||||
|
# Action1.action
|
||||||
|
# Action2.action
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate added messages and services with any dependencies listed here
|
||||||
|
# generate_messages(
|
||||||
|
# DEPENDENCIES
|
||||||
|
# std_msgs # Or other packages containing msgs
|
||||||
|
# )
|
||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS dynamic reconfigure parameters ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build dynamic reconfigure parameters within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "dynamic_reconfigure" to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||||
|
## and list every .cfg file to be processed
|
||||||
|
|
||||||
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||||
|
# generate_dynamic_reconfigure_options(
|
||||||
|
# cfg/DynReconf1.cfg
|
||||||
|
# cfg/DynReconf2.cfg
|
||||||
|
# )
|
||||||
|
|
||||||
|
###################################
|
||||||
|
## catkin specific configuration ##
|
||||||
|
###################################
|
||||||
|
## The catkin_package macro generates cmake config files for your package
|
||||||
|
## Declare things to be passed to dependent projects
|
||||||
|
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||||
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||||
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||||
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||||
|
catkin_package(
|
||||||
|
# INCLUDE_DIRS include
|
||||||
|
# LIBRARIES rc_navigation
|
||||||
|
# CATKIN_DEPENDS amcl gmapping map_server move_base
|
||||||
|
# DEPENDS system_lib
|
||||||
|
)
|
||||||
|
|
||||||
|
###########
|
||||||
|
## Build ##
|
||||||
|
###########
|
||||||
|
|
||||||
|
## Specify additional locations of header files
|
||||||
|
## Your package locations should be listed before other locations
|
||||||
|
include_directories(
|
||||||
|
# include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Declare a C++ library
|
||||||
|
# add_library(${PROJECT_NAME}
|
||||||
|
# src/${PROJECT_NAME}/rc_navigation.cpp
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the library
|
||||||
|
## as an example, code may need to be generated before libraries
|
||||||
|
## either from message generation or dynamic reconfigure
|
||||||
|
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Declare a C++ executable
|
||||||
|
## With catkin_make all packages are built within a single CMake context
|
||||||
|
## The recommended prefix ensures that target names across packages don't collide
|
||||||
|
# add_executable(${PROJECT_NAME}_node src/rc_navigation_node.cpp)
|
||||||
|
|
||||||
|
## Rename C++ executable without prefix
|
||||||
|
## The above recommended prefix causes long target names, the following renames the
|
||||||
|
## target back to the shorter version for ease of user use
|
||||||
|
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||||
|
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the executable
|
||||||
|
## same as for the library above
|
||||||
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Specify libraries to link a library or executable target against
|
||||||
|
# target_link_libraries(${PROJECT_NAME}_node
|
||||||
|
# ${catkin_LIBRARIES}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Install ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
# all install targets should use catkin DESTINATION variables
|
||||||
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||||
|
|
||||||
|
## Mark executable scripts (Python etc.) for installation
|
||||||
|
## in contrast to setup.py, you can choose the destination
|
||||||
|
# catkin_install_python(PROGRAMS
|
||||||
|
# scripts/my_python_script
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark executables for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}_node
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark libraries for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}
|
||||||
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
# FILES_MATCHING PATTERN "*.h"
|
||||||
|
# PATTERN ".svn" EXCLUDE
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||||
|
# install(FILES
|
||||||
|
# # myfile1
|
||||||
|
# # myfile2
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Testing ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
## Add gtest based cpp test target and link libraries
|
||||||
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rc_navigation.cpp)
|
||||||
|
# if(TARGET ${PROJECT_NAME}-test)
|
||||||
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||||
|
# endif()
|
||||||
|
|
||||||
|
## Add folders to be run by python nosetests
|
||||||
|
# catkin_add_nosetests(test)
|
||||||
51
src/rc_navigation/launch/t1_slam.launch
Normal file
51
src/rc_navigation/launch/t1_slam.launch
Normal file
@ -0,0 +1,51 @@
|
|||||||
|
<launch>
|
||||||
|
<!-- 设置为true表示当前环境是仿真环境 -->
|
||||||
|
<param name="use_sim_time" value="false" />
|
||||||
|
<!-- gamping 节点 -->
|
||||||
|
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
|
||||||
|
<!-- 设置雷达话题 -->
|
||||||
|
<remap from="scan" to="scan" />
|
||||||
|
|
||||||
|
<!-- 关键参数：坐标系 -->
|
||||||
|
<param name="base_frame" value="base_footprint" /> <!--底盘坐标系-->
|
||||||
|
<param name="odom_frame" value="odom" /> <!--里程计坐标系-->
|
||||||
|
<param name="map_frame" value="map" /> <!--地图坐标系-->
|
||||||
|
|
||||||
|
<param name="map_update_interval" value="5.0" />
|
||||||
|
<param name="maxUrange" value="16.0" />
|
||||||
|
<param name="sigma" value="0.05" />
|
||||||
|
<param name="kernelSize" value="1" />
|
||||||
|
<param name="lstep" value="0.05" />
|
||||||
|
<param name="astep" value="0.05" />
|
||||||
|
<param name="iterations" value="5" />
|
||||||
|
<param name="lsigma" value="0.075" />
|
||||||
|
<param name="ogain" value="3.0" />
|
||||||
|
<param name="lskip" value="0" />
|
||||||
|
<param name="srr" value="0.1" />
|
||||||
|
<param name="srt" value="0.2" />
|
||||||
|
<param name="str" value="0.1" />
|
||||||
|
<param name="stt" value="0.2" />
|
||||||
|
<param name="linearUpdate" value="1.0" />
|
||||||
|
<param name="angularUpdate" value="0.5" />
|
||||||
|
<param name="temporalUpdate" value="3.0" />
|
||||||
|
<param name="resampleThreshold" value="0.5" />
|
||||||
|
<param name="particles" value="30" />
|
||||||
|
<param name="xmin" value="-50.0" />
|
||||||
|
<param name="ymin" value="-50.0" />
|
||||||
|
<param name="xmax" value="50.0" />
|
||||||
|
<param name="ymax" value="50.0" />
|
||||||
|
<param name="delta" value="0.05" />
|
||||||
|
<param name="llsamplerange" value="0.01" />
|
||||||
|
<param name="llsamplestep" value="0.01" />
|
||||||
|
<param name="lasamplerange" value="0.005" />
|
||||||
|
<param name="lasamplestep" value="0.005" />
|
||||||
|
</node>
|
||||||
|
|
||||||
|
<node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" />
|
||||||
|
<node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher" />
|
||||||
|
|
||||||
|
<node pkg="rviz" type="rviz" name="rviz" />
|
||||||
|
<!-- 使用之前保存过的 rviz 配置-->
|
||||||
|
<!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf_gazebo)/config/t7_car.rviz" /> -->
|
||||||
|
|
||||||
|
</launch>
|
||||||
71
src/rc_navigation/package.xml
Normal file
71
src/rc_navigation/package.xml
Normal file
@ -0,0 +1,71 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<package format="2">
|
||||||
|
<name>rc_navigation</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>The rc_navigation package</description>
|
||||||
|
|
||||||
|
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||||
|
<maintainer email="robofish@todo.todo">robofish</maintainer>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||||
|
<!-- Commonly used license strings: -->
|
||||||
|
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||||
|
<license>TODO</license>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||||
|
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <url type="website">http://wiki.ros.org/rc_navigation</url> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||||
|
<!-- Authors do not have to be maintainers, but could be -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The *depend tags are used to specify dependencies -->
|
||||||
|
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||||
|
<!-- Examples: -->
|
||||||
|
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||||
|
<!-- <depend>roscpp</depend> -->
|
||||||
|
<!-- Note that this is equivalent to the following: -->
|
||||||
|
<!-- <build_depend>roscpp</build_depend> -->
|
||||||
|
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||||
|
<!-- Use build_depend for packages you need at compile time: -->
|
||||||
|
<!-- <build_depend>message_generation</build_depend> -->
|
||||||
|
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||||
|
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||||
|
<!-- Use buildtool_depend for build tool packages: -->
|
||||||
|
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||||
|
<!-- Use exec_depend for packages you need at runtime: -->
|
||||||
|
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||||
|
<!-- Use test_depend for packages you need only for testing: -->
|
||||||
|
<!-- <test_depend>gtest</test_depend> -->
|
||||||
|
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||||
|
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
<build_depend>amcl</build_depend>
|
||||||
|
<build_depend>gmapping</build_depend>
|
||||||
|
<build_depend>map_server</build_depend>
|
||||||
|
<build_depend>move_base</build_depend>
|
||||||
|
<build_export_depend>amcl</build_export_depend>
|
||||||
|
<build_export_depend>gmapping</build_export_depend>
|
||||||
|
<build_export_depend>map_server</build_export_depend>
|
||||||
|
<build_export_depend>move_base</build_export_depend>
|
||||||
|
<exec_depend>amcl</exec_depend>
|
||||||
|
<exec_depend>gmapping</exec_depend>
|
||||||
|
<exec_depend>map_server</exec_depend>
|
||||||
|
<exec_depend>move_base</exec_depend>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The export tag contains other, unspecified, tags -->
|
||||||
|
<export>
|
||||||
|
<!-- Other tools can request additional information be placed here -->
|
||||||
|
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
Loading…
Reference in New Issue
Block a user