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pcl_recorder package from carla_ros_bridge repo

carla_ackermann_control carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher pcl_recorder rqt_carla_control

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/carla-simulator/ros-bridge.git
VCS Type git
VCS Version 0.9.6
Last Updated 2020-01-29
Dev Status MAINTAINED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The pcl_recorder package

Additional Links

No additional links.

Maintainers

  • CARLA Simulator Team

Authors

No additional authors.
pcl_recorder/README.md

Point Cloud Map Creation

Create pointcloud maps for Carla Levels.

The point clouds are created by driving around with an ego vehicle, using the autopilot functionality within the Carla PythonAPI.

Setup

See setup of carla-ros-bridge.

Run

Execute the Carla Simulator and the Pcl-Recorder.

#Terminal 1

#execute Carla
SDL_VIDEODRIVER=offscreen <path-to-carla>/CarlaUE4.sh /Game/Carla/Maps/Town01 -benchmark -fps=20

#Terminal 2

#Execute the PCL Capturing
#The captured point clouds are saved to /tmp/pcl_capture directory.
export PYTHONPATH=<path-to-carla>/PythonAPI/carla/dist/carla-<version_and_arch>.egg:<path-to-carla>/PythonAPI/carla/
source <path-to-catkin-workspace>/devel/setup.bash
roslaunch pcl_recorder pcl_recorder.launch

When the capture drive is done, you can reduce the overall size of the point cloud.

#create one point cloud file
pcl_concatenate_points_pcd /tmp/pcl_capture/*.pcd

#filter duplicates
pcl_voxel_grid -leaf 0.1,0.1,0.1 output.pcd map.pcd

#verify the result
pcl_viewer map.pcd
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
3 pcl_conversions
1 pcl_ros
1 roscpp
2 sensor_msgs
1 roslaunch
1 catkin
1 rostopic
1 carla_ros_bridge

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/pcl_recorder.launch
      • host [default: localhost]
      • port [default: 2000]
      • role_name [default: ego_vehicle]
      • host [default: $(arg host)]
      • port [default: $(arg port)]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pcl_recorder at Robotics Stack Exchange

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