![]() |
toposens_pointcloud package from toposens repotoposens toposens_bringup toposens_description toposens_driver toposens_markers toposens_msgs toposens_pointcloud toposens_sync |
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
License | BSD 3-Clause |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://gitlab.com/toposens/public/ros-packages.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-02-11 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tobias Roth
Authors
- Adi Singh
- Sebastian Dengler
- Christopher Lang
- Inshal Uddin
toposens_pointcloud
This package provides basic TF and PCL integrations for Toposens TsScan
data.
It provides the topic /ts_cloud
based on data from /ts_scans
.
It was developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic) and ROS Kinetic on Ubuntu 16.04 (Xenial) using Toposens TS3 ultrasonic sensor.
Overview
- Maps
TsPoint
s of incomingTsScan
structure (received on the topic defined byscans_topic
parameter, typically/ts_scans
) to thetarget_frame
(which is a parameter as well), utilizing subscribed tf - Publishes converted point cloud as
pcl::PointCloud
on the topic/ts_cloud
- Optionally publishes markers to visualize the normal vectors of points, if
lifetime_normals_vis
parameter is set - Optionally saves point cloud data to file, if
pcd_save_interval
parameter is set - When using
toposens_online_filtering
, then set parameterscans_topic
tots_scans_filtered
Usage
Build
Find information on how to build the package in the README of the toposens
metapackage.
Enable Serial Port Permissions
Find information on how to setup the serial port permissions in the README of the toposens_driver
package.
Run
The driver node as well as the pointcloud node are launched from within one launch-file:
roslaunch toposens_pointcloud pointcloud.launch port:=/dev/ttyUSB0
Configuration
Configuration is done via launch file parameters.
Parameter Name | Description |
---|---|
scans_topic |
Topic name to look for TsScan messages |
target_frame |
Target frame for scan transformations |
pcd_path |
TODO: not used anymore? Should specify the path to store pcd file |
pcd_save_interval |
Interval in which pcd file is stored |
lifetime_normals_vis |
Lifetime for visualization of normals |
Changelog for package toposens_pointcloud
2.2.0 (2021-02-11)
- Optimize launch file structure
- Add .clang-format file and auto-format files (including XML-style files)
- Contributors: Dennis Maier, Tobias Roth
2.1.1 (2020-11-24)
- Include kinetic in CI and relax Eigen version requirements
- Contributors: Tobias Roth
2.1.0 (2020-11-03)
- Introduce bringup package and general updates.
- Prepare for Noetic release
- Run separate CI stages for melodic+noetic. Bump up CMake version to 3.0.2.
- Contributors: Tobias Roth
2.0.4 (2020-10-15)
- Changed package maintainer
- Fix catkin_lint issues
- By default do not log point cloud data
- Contributors: Tobias Roth
2.0.3 (2020-08-12)
2.0.2 (2020-02-28)
- Changed package maintainer
- Contributors: Sebastian Dengler
2.0.1 (2020-01-23)
- Added visualization_msgs and geometry_msgs dependency
- Contributors: Sebastian Dengler
2.0.0 (2020-01-14)
- Generate a surface normal vector for each detected point
- Converted PointCloud of type TsPoint to PointCloud of type PointXYZINormal
- Added option to visualize normal vectors as arrows
- Contributors: Inshal Uddin, Sebastian Dengler
1.3.0 (2019-11-18)
- Using robot description instead of markers for sensor visualization
- Made topic name to listen for TsScans a launch argument
- Fixed bug of crashing ts_cloud_node due to access conflicts in Logging class
- Contributors: Sebastian Dengler
1.2.3 (2019-09-03)
- Outsourced saving of cumulative pointcloud into boost::thread
- Contributors: Christopher Lang
1.2.2 (2019-08-02)
1.2.1 (2019-07-12)
- Added possibility to choose path for storing pcd file
- Contributors: Sebastian Dengler
1.2.0 (2019-07-05)
- Added launch files for armhf architectures
- Added rules to install launch & rviz files
- Added visualization_msgs dependency
- Contributors: Christopher Lang, Sebastian Dengler
1.1.0 (2019-06-21)
1.0.0 (2019-05-14)
- Added setup delay to Hz tests
- Contributors: Adi Singh, Christopher Lang, Sebastian Dengler
0.9.6 (2019-05-13)
- Add colored tags to tests for console debugging
- Added sensor mesh to PCL rviz
- Removed pointcloud dependency on rviz
- Implemented test data download functionality
- Contributors: Adi Singh, Roua Mokchah
0.9.5 (2019-05-03)
- Implemented tests for toposens_pointcloud
- Contributors: Roua Mokchah
0.9.3 (2019-04-26)
- Rebased to clean history
- Contributors: Adi Singh
0.9.2 (2019-04-17)
- Fixed package versions
- Contributors: Adi Singh
0.9.0 (2019-04-09)
0.8.1 (2019-03-29)
- Added remote Turtlebot launchers
- Temperature calibration implemented
- Contributors: Nancy Seckel, Sebastian Dengler
0.8.0 (2019-03-08)
- Created Command class with overloaded constructors
- Contributors: Christopher Lang
0.7.0 (2019-02-27)
- Added native PCL integration
- Contributors: Adi Singh
0.5.0 (2019-02-07)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | catkin | |
2 | roslaunch | |
2 | rostest | |
2 | geometry_msgs | |
1 | message_runtime | |
1 | pcl_ros | |
2 | roscpp | |
2 | tf2_geometry_msgs | |
2 | tf2 | |
1 | toposens_driver | |
1 | toposens_msgs | |
2 | visualization_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/pointcloud.launch
- Launches toposens_pointcloud, no visualization.
-
- scans_topic [default: ts_scans]
- target_frame [default: toposens]
- lifetime_normals_vis [default: 0.0]
- pcd_path [default: ]
- pcd_save_interval [default: 0]
Messages
Services
Plugins
Recent questions tagged toposens_pointcloud at answers.ros.org
![]() |
toposens_pointcloud package from toposens repotoposens toposens_bringup toposens_description toposens_driver toposens_markers toposens_msgs toposens_pointcloud toposens_sync |
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
License | BSD 3-Clause |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://gitlab.com/toposens/public/ros-packages.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-02-11 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tobias Roth
Authors
- Adi Singh
- Sebastian Dengler
- Christopher Lang
- Inshal Uddin
toposens_pointcloud
This package provides basic TF and PCL integrations for Toposens TsScan
data.
It provides the topic /ts_cloud
based on data from /ts_scans
.
It was developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic) and ROS Kinetic on Ubuntu 16.04 (Xenial) using Toposens TS3 ultrasonic sensor.
Overview
- Maps
TsPoint
s of incomingTsScan
structure (received on the topic defined byscans_topic
parameter, typically/ts_scans
) to thetarget_frame
(which is a parameter as well), utilizing subscribed tf - Publishes converted point cloud as
pcl::PointCloud
on the topic/ts_cloud
- Optionally publishes markers to visualize the normal vectors of points, if
lifetime_normals_vis
parameter is set - Optionally saves point cloud data to file, if
pcd_save_interval
parameter is set - When using
toposens_online_filtering
, then set parameterscans_topic
tots_scans_filtered
Usage
Build
Find information on how to build the package in the README of the toposens
metapackage.
Enable Serial Port Permissions
Find information on how to setup the serial port permissions in the README of the toposens_driver
package.
Run
The driver node as well as the pointcloud node are launched from within one launch-file:
roslaunch toposens_pointcloud pointcloud.launch port:=/dev/ttyUSB0
Configuration
Configuration is done via launch file parameters.
Parameter Name | Description |
---|---|
scans_topic |
Topic name to look for TsScan messages |
target_frame |
Target frame for scan transformations |
pcd_path |
TODO: not used anymore? Should specify the path to store pcd file |
pcd_save_interval |
Interval in which pcd file is stored |
lifetime_normals_vis |
Lifetime for visualization of normals |
Changelog for package toposens_pointcloud
2.2.0 (2021-02-11)
- Optimize launch file structure
- Add .clang-format file and auto-format files (including XML-style files)
- Contributors: Dennis Maier, Tobias Roth
2.1.1 (2020-11-24)
- Include kinetic in CI and relax Eigen version requirements
- Contributors: Tobias Roth
2.1.0 (2020-11-03)
- Introduce bringup package and general updates.
- Prepare for Noetic release
- Run separate CI stages for melodic+noetic. Bump up CMake version to 3.0.2.
- Contributors: Tobias Roth
2.0.4 (2020-10-15)
- Changed package maintainer
- Fix catkin_lint issues
- By default do not log point cloud data
- Contributors: Tobias Roth
2.0.3 (2020-08-12)
2.0.2 (2020-02-28)
- Changed package maintainer
- Contributors: Sebastian Dengler
2.0.1 (2020-01-23)
- Added visualization_msgs and geometry_msgs dependency
- Contributors: Sebastian Dengler
2.0.0 (2020-01-14)
- Generate a surface normal vector for each detected point
- Converted PointCloud of type TsPoint to PointCloud of type PointXYZINormal
- Added option to visualize normal vectors as arrows
- Contributors: Inshal Uddin, Sebastian Dengler
1.3.0 (2019-11-18)
- Using robot description instead of markers for sensor visualization
- Made topic name to listen for TsScans a launch argument
- Fixed bug of crashing ts_cloud_node due to access conflicts in Logging class
- Contributors: Sebastian Dengler
1.2.3 (2019-09-03)
- Outsourced saving of cumulative pointcloud into boost::thread
- Contributors: Christopher Lang
1.2.2 (2019-08-02)
1.2.1 (2019-07-12)
- Added possibility to choose path for storing pcd file
- Contributors: Sebastian Dengler
1.2.0 (2019-07-05)
- Added launch files for armhf architectures
- Added rules to install launch & rviz files
- Added visualization_msgs dependency
- Contributors: Christopher Lang, Sebastian Dengler
1.1.0 (2019-06-21)
1.0.0 (2019-05-14)
- Added setup delay to Hz tests
- Contributors: Adi Singh, Christopher Lang, Sebastian Dengler
0.9.6 (2019-05-13)
- Add colored tags to tests for console debugging
- Added sensor mesh to PCL rviz
- Removed pointcloud dependency on rviz
- Implemented test data download functionality
- Contributors: Adi Singh, Roua Mokchah
0.9.5 (2019-05-03)
- Implemented tests for toposens_pointcloud
- Contributors: Roua Mokchah
0.9.3 (2019-04-26)
- Rebased to clean history
- Contributors: Adi Singh
0.9.2 (2019-04-17)
- Fixed package versions
- Contributors: Adi Singh
0.9.0 (2019-04-09)
0.8.1 (2019-03-29)
- Added remote Turtlebot launchers
- Temperature calibration implemented
- Contributors: Nancy Seckel, Sebastian Dengler
0.8.0 (2019-03-08)
- Created Command class with overloaded constructors
- Contributors: Christopher Lang
0.7.0 (2019-02-27)
- Added native PCL integration
- Contributors: Adi Singh
0.5.0 (2019-02-07)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | catkin | |
2 | roslaunch | |
2 | rostest | |
2 | geometry_msgs | |
1 | message_runtime | |
1 | pcl_ros | |
2 | roscpp | |
2 | tf2_geometry_msgs | |
2 | tf2 | |
1 | toposens_driver | |
1 | toposens_msgs | |
2 | visualization_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/pointcloud.launch
- Launches toposens_pointcloud, no visualization.
-
- scans_topic [default: ts_scans]
- target_frame [default: toposens]
- lifetime_normals_vis [default: 0.0]
- pcd_path [default: ]
- pcd_save_interval [default: 0]
Messages
Services
Plugins
Recent questions tagged toposens_pointcloud at answers.ros.org
![]() |
toposens_pointcloud package from toposens repotoposens toposens_bringup toposens_description toposens_driver toposens_markers toposens_msgs toposens_pointcloud toposens_sync |
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
License | BSD 3-Clause |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://gitlab.com/toposens/public/ros-packages.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-02-11 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tobias Roth
Authors
- Adi Singh
- Sebastian Dengler
- Christopher Lang
- Inshal Uddin
toposens_pointcloud
This package provides basic TF and PCL integrations for Toposens TsScan
data.
It provides the topic /ts_cloud
based on data from /ts_scans
.
It was developed and tested for ROS Melodic on Ubuntu 18.04 (Bionic) and ROS Kinetic on Ubuntu 16.04 (Xenial) using Toposens TS3 ultrasonic sensor.
Overview
- Maps
TsPoint
s of incomingTsScan
structure (received on the topic defined byscans_topic
parameter, typically/ts_scans
) to thetarget_frame
(which is a parameter as well), utilizing subscribed tf - Publishes converted point cloud as
pcl::PointCloud
on the topic/ts_cloud
- Optionally publishes markers to visualize the normal vectors of points, if
lifetime_normals_vis
parameter is set - Optionally saves point cloud data to file, if
pcd_save_interval
parameter is set - When using
toposens_online_filtering
, then set parameterscans_topic
tots_scans_filtered
Usage
Build
Find information on how to build the package in the README of the toposens
metapackage.
Enable Serial Port Permissions
Find information on how to setup the serial port permissions in the README of the toposens_driver
package.
Run
The driver node as well as the pointcloud node are launched from within one launch-file:
roslaunch toposens_pointcloud pointcloud.launch port:=/dev/ttyUSB0
Configuration
Configuration is done via launch file parameters.
Parameter Name | Description |
---|---|
scans_topic |
Topic name to look for TsScan messages |
target_frame |
Target frame for scan transformations |
pcd_path |
TODO: not used anymore? Should specify the path to store pcd file |
pcd_save_interval |
Interval in which pcd file is stored |
lifetime_normals_vis |
Lifetime for visualization of normals |
Changelog for package toposens_pointcloud
2.2.0 (2021-02-11)
- Optimize launch file structure
- Add .clang-format file and auto-format files (including XML-style files)
- Contributors: Dennis Maier, Tobias Roth
2.1.1 (2020-11-24)
- Include kinetic in CI and relax Eigen version requirements
- Contributors: Tobias Roth
2.1.0 (2020-11-03)
- Introduce bringup package and general updates.
- Prepare for Noetic release
- Run separate CI stages for melodic+noetic. Bump up CMake version to 3.0.2.
- Contributors: Tobias Roth
2.0.4 (2020-10-15)
- Changed package maintainer
- Fix catkin_lint issues
- By default do not log point cloud data
- Contributors: Tobias Roth
2.0.3 (2020-08-12)
2.0.2 (2020-02-28)
- Changed package maintainer
- Contributors: Sebastian Dengler
2.0.1 (2020-01-23)
- Added visualization_msgs and geometry_msgs dependency
- Contributors: Sebastian Dengler
2.0.0 (2020-01-14)
- Generate a surface normal vector for each detected point
- Converted PointCloud of type TsPoint to PointCloud of type PointXYZINormal
- Added option to visualize normal vectors as arrows
- Contributors: Inshal Uddin, Sebastian Dengler
1.3.0 (2019-11-18)
- Using robot description instead of markers for sensor visualization
- Made topic name to listen for TsScans a launch argument
- Fixed bug of crashing ts_cloud_node due to access conflicts in Logging class
- Contributors: Sebastian Dengler
1.2.3 (2019-09-03)
- Outsourced saving of cumulative pointcloud into boost::thread
- Contributors: Christopher Lang
1.2.2 (2019-08-02)
1.2.1 (2019-07-12)
- Added possibility to choose path for storing pcd file
- Contributors: Sebastian Dengler
1.2.0 (2019-07-05)
- Added launch files for armhf architectures
- Added rules to install launch & rviz files
- Added visualization_msgs dependency
- Contributors: Christopher Lang, Sebastian Dengler
1.1.0 (2019-06-21)
1.0.0 (2019-05-14)
- Added setup delay to Hz tests
- Contributors: Adi Singh, Christopher Lang, Sebastian Dengler
0.9.6 (2019-05-13)
- Add colored tags to tests for console debugging
- Added sensor mesh to PCL rviz
- Removed pointcloud dependency on rviz
- Implemented test data download functionality
- Contributors: Adi Singh, Roua Mokchah
0.9.5 (2019-05-03)
- Implemented tests for toposens_pointcloud
- Contributors: Roua Mokchah
0.9.3 (2019-04-26)
- Rebased to clean history
- Contributors: Adi Singh
0.9.2 (2019-04-17)
- Fixed package versions
- Contributors: Adi Singh
0.9.0 (2019-04-09)
0.8.1 (2019-03-29)
- Added remote Turtlebot launchers
- Temperature calibration implemented
- Contributors: Nancy Seckel, Sebastian Dengler
0.8.0 (2019-03-08)
- Created Command class with overloaded constructors
- Contributors: Christopher Lang
0.7.0 (2019-02-27)
- Added native PCL integration
- Contributors: Adi Singh
0.5.0 (2019-02-07)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | catkin | |
2 | roslaunch | |
2 | rostest | |
2 | geometry_msgs | |
1 | message_runtime | |
1 | pcl_ros | |
2 | roscpp | |
2 | tf2_geometry_msgs | |
2 | tf2 | |
1 | toposens_driver | |
1 | toposens_msgs | |
2 | visualization_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/pointcloud.launch
- Launches toposens_pointcloud, no visualization.
-
- scans_topic [default: ts_scans]
- target_frame [default: toposens]
- lifetime_normals_vis [default: 0.0]
- pcd_path [default: ]
- pcd_save_interval [default: 0]