Repository Summary

Checkout URI	https://github.com/pradyum/dual_laser_merger.git
VCS Type	git
VCS Version	humble
Last Updated	2024-11-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
dual_laser_merger	0.0.0

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.

demo

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={
            'laser_1_topic': 'lidar1/scan',
            'laser_2_topic': 'lidar2/scan',
            'merged_topic': 'merged/scan',
            'publish_rate': '100',
            'target_frame': 'lsc_mount',
            'angle_increment': '0.001',
            'scan_time': '0.067',
            'range_min': '0.01',
            'range_max': '25.0',
            'min_height': '-1.0',
            'max_height': '1.0',
            'angle_min': '-3.141592654',
            'angle_max': '3.141592654',
            'use_inf': 'false',
        }.items(),
    )

    ld.add_action(dual_laser_merger_node)

    return ld

The following arguments can be changed as needed | Argument | Description | | — | — | | laser_1_topic | Input topic name of first laser scan | | laser_2_topic | Input topic name of second laser scan | | merged_topic | Output topic name of merged laser scan | | publish_rate | Merged laser scan publisher loop delay in milliseconds $( frequency = \frac{1}{publish\_rate} \times 1000 )$ | | target_frame | The target TF frame on which the merged laser scan will be publisher. | | angle_increment | angular distance between measurements [rad] of merged laser scan data | | scan_time | time between scans [seconds] of merged laser scan data | | range_min | minimum range value [m] of merged laser scan data | | range_max | maximum range value [m] of merged laser scan data | | min_height | minimum height from target frame in which the scan ports are accepted [m] | | max_height | maximum height from target frame in which the scan ports are accepted [m] | | angle_min | minimum angle value [rad] of merged laser scan data | | angle_max | maximum angle value [rad] of merged laser scan data | | use_inf | if true reports infinite values as +inf, else reported as range_max + 1 |

Issues

If you encounter any bugs, issues, or have suggestions for improvements, feel free to raise them by opening an issue on this repository. We appreciate your feedback and contributions to make this package better!

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.

No version for distro iron. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/pradyum/dual_laser_merger.git
VCS Type	git
VCS Version	jazzy
Last Updated	2024-11-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
dual_laser_merger	0.0.0

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.

demo

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={
            'laser_1_topic': 'lidar1/scan',
            'laser_2_topic': 'lidar2/scan',
            'merged_topic': 'merged/scan',
            'publish_rate': '100',
            'target_frame': 'lsc_mount',
            'angle_increment': '0.001',
            'scan_time': '0.067',
            'range_min': '0.01',
            'range_max': '25.0',
            'min_height': '-1.0',
            'max_height': '1.0',
            'angle_min': '-3.141592654',
            'angle_max': '3.141592654',
            'use_inf': 'false',
        }.items(),
    )

    ld.add_action(dual_laser_merger_node)

    return ld

The following arguments can be changed as needed | Argument | Description | | — | — | | laser_1_topic | Input topic name of first laser scan | | laser_2_topic | Input topic name of second laser scan | | merged_topic | Output topic name of merged laser scan | | publish_rate | Merged laser scan publisher loop delay in milliseconds $( frequency = \frac{1}{publish\_rate} \times 1000 )$ | | target_frame | The target TF frame on which the merged laser scan will be publisher. | | angle_increment | angular distance between measurements [rad] of merged laser scan data | | scan_time | time between scans [seconds] of merged laser scan data | | range_min | minimum range value [m] of merged laser scan data | | range_max | maximum range value [m] of merged laser scan data | | min_height | minimum height from target frame in which the scan ports are accepted [m] | | max_height | maximum height from target frame in which the scan ports are accepted [m] | | angle_min | minimum angle value [rad] of merged laser scan data | | angle_max | maximum angle value [rad] of merged laser scan data | | use_inf | if true reports infinite values as +inf, else reported as range_max + 1 |

Issues

If you encounter any bugs, issues, or have suggestions for improvements, feel free to raise them by opening an issue on this repository. We appreciate your feedback and contributions to make this package better!

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	2024-11-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
dual_laser_merger	0.0.0

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.

demo

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={
            'laser_1_topic': 'lidar1/scan',
            'laser_2_topic': 'lidar2/scan',
            'merged_topic': 'merged/scan',
            'publish_rate': '100',
            'target_frame': 'lsc_mount',
            'angle_increment': '0.001',
            'scan_time': '0.067',
            'range_min': '0.01',
            'range_max': '25.0',
            'min_height': '-1.0',
            'max_height': '1.0',
            'angle_min': '-3.141592654',
            'angle_max': '3.141592654',
            'use_inf': 'false',
        }.items(),
    )

    ld.add_action(dual_laser_merger_node)

    return ld

The following arguments can be changed as needed | Argument | Description | | — | — | | laser_1_topic | Input topic name of first laser scan | | laser_2_topic | Input topic name of second laser scan | | merged_topic | Output topic name of merged laser scan | | publish_rate | Merged laser scan publisher loop delay in milliseconds $( frequency = \frac{1}{publish\_rate} \times 1000 )$ | | target_frame | The target TF frame on which the merged laser scan will be publisher. | | angle_increment | angular distance between measurements [rad] of merged laser scan data | | scan_time | time between scans [seconds] of merged laser scan data | | range_min | minimum range value [m] of merged laser scan data | | range_max | maximum range value [m] of merged laser scan data | | min_height | minimum height from target frame in which the scan ports are accepted [m] | | max_height | maximum height from target frame in which the scan ports are accepted [m] | | angle_min | minimum angle value [rad] of merged laser scan data | | angle_max | maximum angle value [rad] of merged laser scan data | | use_inf | if true reports infinite values as +inf, else reported as range_max + 1 |

Issues

If you encounter any bugs, issues, or have suggestions for improvements, feel free to raise them by opening an issue on this repository. We appreciate your feedback and contributions to make this package better!

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.

No version for distro noetic. Known supported distros are highlighted in the buttons above.

No version for distro ardent. 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 crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

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

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro foxy. 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.

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

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