ROS Index
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-23 |
| 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) |
Packages
| Name | Version |
|---|---|
| dual_laser_merger | 0.1.1 |
README
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={
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-11-23 |
| 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) |
Packages
| Name | Version |
|---|---|
| dual_laser_merger | 0.3.1 |
README
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={
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2024-11-22 |
| 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) |
Packages
| Name | Version |
|---|---|
| dual_laser_merger | 0.0.1 |
README
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={
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
| Checkout URI | https://github.com/pradyum/dual_laser_merger.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2024-11-22 |
| 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) |
Packages
| Name | Version |
|---|---|
| dual_laser_merger | 0.0.1 |
README
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={
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.