No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.

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 master
Last Updated 2019-08-15
Dev Status MAINTAINED
Released UNRELEASED

Package Description

The pcl_recorder package

Additional Links

No additional links.

Maintainers

  • CARLA Simulator Team

Authors

No additional authors.

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

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 answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.