ROS Index
Repository Summary
| Checkout URI | https://github.com/peterweissig/ros_pcdfilter.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-06-08 |
| Dev Status | MAINTAINED |
| 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 |
|---|---|
| pcdfilter_pa | 1.2.0 |
README
ProAut Pointcloud Filter
Introduction
This package was designed to remove simple geometric shapes from pointclouds. E.g. A cube or a sphere. Several of these filters can be applied to a pointcloud in one shot. For more details on the types of filters and their parameters see Filters.
This package includes a full node and a ros interface for one’s own node. For more details about the node, like topic names and parameters, see Node.
The package can handle three different input types of pointclouds:
- sensor_msgs/PointCloud2 (this is also the output type)
- sensor_msgs/PointCloud
- sensor_msgs/LaserScan
Additionaly the input data can be throttled to reduce the cpu load.
Node
rosrun pcdfilter_pa pcdfilter_pa_node
roslaunch pcdfilter_pa pcdfilter_pa.launch
Input and Output Topics
| Topic Name | Type | Description |
|---|---|---|
| ”~/in_cloud” | sensor_msgs/PointCloud2 | Input as new pointcloud type. |
| ”~/in_cloud_old” | sensor_msgs/PointCloud | Input as old pointloud type. Will be converted to new pointcloud type. |
| ”~/in_laser” | sensor_msgs/LaserScan | Input as single laser scan. Will be converted to new pointcloud type by package “laser_geometry”. |
| ”~/out_cloud” | sensor_msgs/PointCloud2 | Output of filtering node. |
All topics can be remapped using parameters (see below).
Services
| Service Name | Type | Description |
|---|---|---|
| ”~/filter” | pcdfilter_pa/PcdFilterPaCloud | Forced filtering via service call. No throttling is done and input/output cloud is part of service message. |
| ”~/add_filters” | pcdfilter_pa/PcdFilterPaFilter | Adding new filters. Old filters are kept. |
| ”~/change_filters” | pcdfilter_pa/PcdFilterPaFilter | Adding new filters, but removing all old filters before adding. |
| ”~/enable” | std_srvs/Empty | Disables this node. This also disconnects the node from all input messages. |
| ”~/disable” | std_srvs/Empty | Enables this node. |
Parameters
Filter
Parameter Name | Type | Description ———————–|——————-|————————————- “~/filters” | vector of strings | All pointcloud filters as an array of strings.
general settings
Parameter Name | Type | Description ———————–|——————-|————————————- “~/skip_count” | integer | Input throttling. Number of skipped messages after each processed message. “~/skip_time” | double | Input throttling. Time intervall in seconds. After each processed message, this intervall starts and all input messages will be skipped. “~/tf_lookup_time” | double | Maximum time in seconds for waiting for a specific TF transform. “~/buffer_pointcloud” | bool | Flag for buffering the last received pointcloud. This can be used to test different filters without resending the some pointcloud. “~/debugging” | bool | Flag for enabling extented output. “~/enabled” | bool | Flag for setting start up behaviour. Indicates if node is filtering at startup, or not.
laser
Parameter Name | Type | Description ———————–|——————-|————————————- “~/laser_nan_replacement_value” | double | If a nan-value is represented within the laser scan, it might indicate “no obstacle within range”. Therefore this parameters will replace those values with a fixed number.
topics and services
Parameter Name | Type | Description ———————–|——————-|————————————- “~/topic_in_cloud” | string | Name of input topic for new pointclouds. “~/topic_in_cloud_old” | string | Name of input topic for old pointclouds. “~/topic_in_laser” | string | Name of input topic for laser scans. “~/topic_out_cloud” | string | Name of output topic for filtered pointcloud.
See also this config file. It contains all parameters and their default value.
Filter
Definition
This is the definition of every single filter as a string.
[<inversion>]<type> <separator> <dimensions> <tf> [<tf_offset>] [<tf2> [<tf2_offset>]] [# <comment>]
inversion (optional)
Inversion | Description ———-|————————————————————– “” (none) | normal behaviour; points within the volume will be filtered out; all points outside will be kept “!” | reversed behaviour; points within the volume will be kept; all points outside will be filtered out
type
Type | Description | Nr Parameters | Nr TF ids
File truncated at 100 lines see the full file