ROS Index
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b jazzy https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.3.1 (2024-11-23)
- minor version bump denoting ros2 distro - jazzy
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2024-11-22 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2024-11-22 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged dual_laser_merger at Robotics Stack Exchange
|
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- pradyum
Authors
dual_laser_merger
ROS 2 Package to merge dual lidar scan data. This package provide a node to concatenate pointcloud. First the laser scans are coverted to pointclouds which is then transformed to target_frame and concatenated. After this concatenated pointcloud is convert to laserscan.
Build from source
This package currently works on ROS 2 Distributions: Humble, Jazzy, Rolling
mkdir laser_merger_ws/src -p
cd laser_merger_ws/src
git clone -b humble https://github.com/pradyum/dual_laser_merger.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash
Example Demo using recorded bag file
This demo shows merging of laser scan data from 2 lidars.
ros2 launch dual_laser_merger demo_laser_merger.launch.py
Requirements
- Lidar 1 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar1/scan
Type: sensor_msgs/msg/LaserScan
- Lidar 2 scan topic, the messages in the topic are required to have
frame_id.
~$ ros2 topic info /lidar2/scan
Type: sensor_msgs/msg/LaserScan
- TF from Lidar 1 (
laser_1) and Lidar 2 (laser_2) to Target frame (lsc_mount)
~$ ros2 topic echo /tf_static
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 564956753
frame_id: lsc_mount
child_frame_id: laser_1
transform:
translation:
x: 0.321967
y: 0.221817
z: 0.0
rotation:
x: 0.3826834321814926
y: 0.9238795325873352
z: 3.9573888241688663e-14
w: -9.553981776262265e-14
transforms:
- header:
stamp:
sec: 1729076136
nanosec: 580013258
frame_id: lsc_mount
child_frame_id: laser_2
transform:
translation:
x: -0.321967
y: -0.221817
z: 0.0
rotation:
x: -0.9238795324744832
y: 0.38268343245394154
z: -9.553981775095244e-14
w: -3.957388826986303e-14
Usage
This is included as a launch file as shown
``` from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
dual_laser_merger_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
f"{get_package_share_directory('dual_laser_merger')}/dual_laser_merger.launch.py"
]
),
launch_arguments={
File truncated at 100 lines see the full file
Changelog for package dual_laser_merger
0.1.1 (2024-11-23)
- minor version bump denoting ros2 distro - humble
0.0.1 (2024-11-22)
- added missing dependency
- added shadow and average filters
- added calibration functions
- made node as ros component
- added demo files
- created ros package and added node cpp, launch file
- Initial commit
- Contributors: Pradyum Aadith, pradyum
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |