ROS Index
|
dual_laser_merger package from dual_laser_merger repodual_laser_merger |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| 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 | 2024-11-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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={
'laser_1_topic': 'lidar1/scan',
'laser_2_topic': 'lidar2/scan',
'merged_topic': 'merged/scan',
'publish_rate': '100',
'target_frame': 'lsc_mount',
'angle_increment': '0.001',
'scan_time': '0.067',
'range_min': '0.01',
'range_max': '25.0',
'min_height': '-1.0',
'max_height': '1.0',
'angle_min': '-3.141592654',
'angle_max': '3.141592654',
'use_inf': 'false',
}.items(),
)
ld.add_action(dual_laser_merger_node)
return ld
The following arguments can be changed as needed
| Argument | Description |
| — | — |
| laser_1_topic | Input topic name of first laser scan |
| laser_2_topic | Input topic name of second laser scan |
| merged_topic | Output topic name of merged laser scan |
| publish_rate | Merged laser scan publisher loop delay in milliseconds $( frequency = \frac{1}{publish\_rate} \times 1000 )$ |
| target_frame | The target TF frame on which the merged laser scan will be publisher. |
| angle_increment | angular distance between measurements [rad] of merged laser scan data |
| scan_time | time between scans [seconds] of merged laser scan data |
| range_min | minimum range value [m] of merged laser scan data |
| range_max | maximum range value [m] of merged laser scan data |
| min_height | minimum height from target frame in which the scan ports are accepted [m] |
| max_height | maximum height from target frame in which the scan ports are accepted [m] |
| angle_min | minimum angle value [rad] of merged laser scan data |
| angle_max | maximum angle value [rad] of merged laser scan data |
| use_inf | if true reports infinite values as +inf, else reported as range_max + 1 |
Issues
If you encounter any bugs, issues, or have suggestions for improvements, feel free to raise them by opening an issue on this repository. We appreciate your feedback and contributions to make this package better!
Wiki Tutorials
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 |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| 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 | 2024-11-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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={
'laser_1_topic': 'lidar1/scan',
'laser_2_topic': 'lidar2/scan',
'merged_topic': 'merged/scan',
'publish_rate': '100',
'target_frame': 'lsc_mount',
'angle_increment': '0.001',
'scan_time': '0.067',
'range_min': '0.01',
'range_max': '25.0',
'min_height': '-1.0',
'max_height': '1.0',
'angle_min': '-3.141592654',
'angle_max': '3.141592654',
'use_inf': 'false',
}.items(),
)
ld.add_action(dual_laser_merger_node)
return ld
The following arguments can be changed as needed
| Argument | Description |
| — | — |
| laser_1_topic | Input topic name of first laser scan |
| laser_2_topic | Input topic name of second laser scan |
| merged_topic | Output topic name of merged laser scan |
| publish_rate | Merged laser scan publisher loop delay in milliseconds $( frequency = \frac{1}{publish\_rate} \times 1000 )$ |
| target_frame | The target TF frame on which the merged laser scan will be publisher. |
| angle_increment | angular distance between measurements [rad] of merged laser scan data |
| scan_time | time between scans [seconds] of merged laser scan data |
| range_min | minimum range value [m] of merged laser scan data |
| range_max | maximum range value [m] of merged laser scan data |
| min_height | minimum height from target frame in which the scan ports are accepted [m] |
| max_height | maximum height from target frame in which the scan ports are accepted [m] |
| angle_min | minimum angle value [rad] of merged laser scan data |
| angle_max | maximum angle value [rad] of merged laser scan data |
| use_inf | if true reports infinite values as +inf, else reported as range_max + 1 |
Issues
If you encounter any bugs, issues, or have suggestions for improvements, feel free to raise them by opening an issue on this repository. We appreciate your feedback and contributions to make this package better!
Wiki Tutorials
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 |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| 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 | 2024-11-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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={
'laser_1_topic': 'lidar1/scan',
'laser_2_topic': 'lidar2/scan',
'merged_topic': 'merged/scan',
'publish_rate': '100',
'target_frame': 'lsc_mount',
'angle_increment': '0.001',
'scan_time': '0.067',
'range_min': '0.01',
'range_max': '25.0',
'min_height': '-1.0',
'max_height': '1.0',
'angle_min': '-3.141592654',
'angle_max': '3.141592654',
'use_inf': 'false',
}.items(),
)
ld.add_action(dual_laser_merger_node)
return ld
The following arguments can be changed as needed
| Argument | Description |
| — | — |
| laser_1_topic | Input topic name of first laser scan |
| laser_2_topic | Input topic name of second laser scan |
| merged_topic | Output topic name of merged laser scan |
| publish_rate | Merged laser scan publisher loop delay in milliseconds $( frequency = \frac{1}{publish\_rate} \times 1000 )$ |
| target_frame | The target TF frame on which the merged laser scan will be publisher. |
| angle_increment | angular distance between measurements [rad] of merged laser scan data |
| scan_time | time between scans [seconds] of merged laser scan data |
| range_min | minimum range value [m] of merged laser scan data |
| range_max | maximum range value [m] of merged laser scan data |
| min_height | minimum height from target frame in which the scan ports are accepted [m] |
| max_height | maximum height from target frame in which the scan ports are accepted [m] |
| angle_min | minimum angle value [rad] of merged laser scan data |
| angle_max | maximum angle value [rad] of merged laser scan data |
| use_inf | if true reports infinite values as +inf, else reported as range_max + 1 |
Issues
If you encounter any bugs, issues, or have suggestions for improvements, feel free to raise them by opening an issue on this repository. We appreciate your feedback and contributions to make this package better!
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |