Repository Summary
| Checkout URI | https://github.com/ctu-vras/sensor_filters.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-05-20 |
| 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 |
|---|---|
| sensor_filters | 1.0.3 |
README
sensor_filters
This package is a collection of nodes and nodelets that service a filters::FilterChain for message types from sensor_msgs package.
Each node/nodelet's task is very simple: load the filter chain, subscribe ~input topic, and publish the filtered messages to ~output topic.
The size of message queues is configured via ~input_queue_size and ~output_queue_size, both defaulting to 10 messages.
The namespaces from which the filters load are the following:
| Message Type | Namespace | Nodelet Name |
|---|---|---|
| CompressedImage | ~image_filter_chain |
sensor_filters/compressedimage_filter_chain |
| Image | ~image_filter_chain |
sensor_filters/image_filter_chain |
| Imu | ~imu_filter_chain |
sensor_filters/imu_filter_chain |
| Joy | ~joy_filter_chain |
sensor_filters/joy_filter_chain |
| LaserScan | ~scan_filter_chain |
sensor_filters/laserscan_filter_chain |
| MagneticField | ~magnetic_field_filter_chain |
sensor_filters/magneticfield_filter_chain |
| MultiEchoLaserScan | ~scan_filter_chain |
sensor_filters/multiecholaserscan_filter_chain |
| NavSatFix | ~nav_sat_fix_filter_chain |
sensor_filters/navsatfix_filter_chain |
| PointCloud | ~cloud_filter_chain |
sensor_filters/pointcloud_filter_chain |
| PointCloud2 | ~cloud_filter_chain |
sensor_filters/pointcloud2_filter_chain |
| Range | ~range_filter_chain |
sensor_filters/range_filter_chain |
| RelativeHumidity | ~humidity_filter_chain |
sensor_filters/relativehumidity_filter_chain |
| Temperature | ~temperature_filter_chain |
sensor_filters/temperature_filter_chain |
laser_filters compatibility
The LaserScan filter chain node is compatible with the scan_to_scan_node from laser_filters package (it can load the same filters using the same config).
It does not, however, use TF message filter, so each filter has to wait for the required TFs itself.
Extensibility
Both the nodes and nodelets offer common code that can be shared so that you can build extensions of the simple filter chain handlers provided by this package.
Nodes
#include <sensor_msgs/PointCloud2.h>
#include <sensor_filters/FilterChainNode.h>
class MyClass : public sensor_filters::FilterChainNode<sensor_msgs::PointCloud2>
{
// custom class code
};
Nodelets
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_filters/FilterChainNodelet.h>
class MyNodelet : public sensor_filters::FilterChainNodelet<sensor_msgs::PointCloud2>
{
protected: void onInit() override
{
sensor_filters::FilterChainNodelet<sensor_msgs::PointCloud2>::onInit();
// custom nodelet code
}
};
PLUGINLIB_EXPORT_CLASS(MyNodelet, nodelet::Nodelet)
Example
filter.yaml
output_queue_size: 1
scan_filter_chain:
- name: intensity
type: laser_filters/LaserScanIntensityFilter
params:
lower_threshold: 8000
upper_threshold: 100000
invert: false
filter_override_range: true
filter_override_intensity: false
- name: shadows
type: laser_filters/ScanShadowsFilter
params:
min_angle: 10
max_angle: 170
neighbors: 20
window: 0
filter.launch
<launch>
<node pkg="sensor_filters" type="laserscan_filter_chain" output="screen" name="laser_filter">
<remap from="~input" to="base_scan" />
<remap from="~output" to="base_scan_filtered" />
<rosparam command="load" file="$(dirname)/filter.yaml" />
</node>
</launch>
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ctu-vras/sensor_filters.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-05-20 |
| 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 |
|---|---|
| sensor_filters | 1.0.3 |
README
sensor_filters
This package is a collection of nodes and nodelets that service a filters::FilterChain for message types from sensor_msgs package.
Each node/nodelet's task is very simple: load the filter chain, subscribe ~input topic, and publish the filtered messages to ~output topic.
The size of message queues is configured via ~input_queue_size and ~output_queue_size, both defaulting to 10 messages.
The namespaces from which the filters load are the following:
| Message Type | Namespace | Nodelet Name |
|---|---|---|
| CompressedImage | ~image_filter_chain |
sensor_filters/compressedimage_filter_chain |
| Image | ~image_filter_chain |
sensor_filters/image_filter_chain |
| Imu | ~imu_filter_chain |
sensor_filters/imu_filter_chain |
| Joy | ~joy_filter_chain |
sensor_filters/joy_filter_chain |
| LaserScan | ~scan_filter_chain |
sensor_filters/laserscan_filter_chain |
| MagneticField | ~magnetic_field_filter_chain |
sensor_filters/magneticfield_filter_chain |
| MultiEchoLaserScan | ~scan_filter_chain |
sensor_filters/multiecholaserscan_filter_chain |
| NavSatFix | ~nav_sat_fix_filter_chain |
sensor_filters/navsatfix_filter_chain |
| PointCloud | ~cloud_filter_chain |
sensor_filters/pointcloud_filter_chain |
| PointCloud2 | ~cloud_filter_chain |
sensor_filters/pointcloud2_filter_chain |
| Range | ~range_filter_chain |
sensor_filters/range_filter_chain |
| RelativeHumidity | ~humidity_filter_chain |
sensor_filters/relativehumidity_filter_chain |
| Temperature | ~temperature_filter_chain |
sensor_filters/temperature_filter_chain |
laser_filters compatibility
The LaserScan filter chain node is compatible with the scan_to_scan_node from laser_filters package (it can load the same filters using the same config).
It does not, however, use TF message filter, so each filter has to wait for the required TFs itself.
Extensibility
Both the nodes and nodelets offer common code that can be shared so that you can build extensions of the simple filter chain handlers provided by this package.
Nodes
#include <sensor_msgs/PointCloud2.h>
#include <sensor_filters/FilterChainNode.h>
class MyClass : public sensor_filters::FilterChainNode<sensor_msgs::PointCloud2>
{
// custom class code
};
Nodelets
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_filters/FilterChainNodelet.h>
class MyNodelet : public sensor_filters::FilterChainNodelet<sensor_msgs::PointCloud2>
{
protected: void onInit() override
{
sensor_filters::FilterChainNodelet<sensor_msgs::PointCloud2>::onInit();
// custom nodelet code
}
};
PLUGINLIB_EXPORT_CLASS(MyNodelet, nodelet::Nodelet)
Example
filter.yaml
output_queue_size: 1
scan_filter_chain:
- name: intensity
type: laser_filters/LaserScanIntensityFilter
params:
lower_threshold: 8000
upper_threshold: 100000
invert: false
filter_override_range: true
filter_override_intensity: false
- name: shadows
type: laser_filters/ScanShadowsFilter
params:
min_angle: 10
max_angle: 170
neighbors: 20
window: 0
filter.launch
<launch>
<node pkg="sensor_filters" type="laserscan_filter_chain" output="screen" name="laser_filter">
<remap from="~input" to="base_scan" />
<remap from="~output" to="base_scan_filtered" />
<rosparam command="load" file="$(dirname)/filter.yaml" />
</node>
</launch>