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 TsPoints of incoming TsScan structure (received on the topic defined by scans_topic parameter, typically /ts_scans) to the target_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 parameter scans_topic to ts_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.

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)