pointcloud_storer_ros

ROS package for storing pointclouds and poses

The demo assumes that a portion of the scan data has been acquired, so the scan data is extracted with the pointcloud_angle_filter node in amr_navigation_utils_ros package

Environment

• Ubuntu 20.04
• ROS Noetic

Dependencies

• icp_matching_ros

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/pointcloud_storer_ros.git
git clone https://github.com/ToshikiNakamura0412/icp_matching_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic       # Install dependencies
catkin build pointcloud_storer_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

How to use

roslaunch pointcloud_storer_ros pointcloud_storer.launch

Running the demo

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/emcl_ros.git
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git
git clone https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros.git
git clone https://github.com/ToshikiNakamura0412/raycast_mapping_ros.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
## terminal 1
export TURTLEBOT3_MODEL=burger
roslaunch pointcloud_storer_ros test.launch
## terminal 2
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Node I/O

Runtime requirement

TF (from the frame_id of cloud to the frame_id of robot_pose) is required

Nodes

pointcloud_storer

Published Topics

• ~<name>/graph/edge (nav_msgs/Path)
  • Edge of pose graph
• ~<name>/graph/node (geometry_msgs/PoseArray)
  • Node of pose graph
• ~<name>/stored_cloud (sensor_msgs/PointCloud2)
  • Stored pointcloud

Subscribed Topics

• /cloud (sensor_msgs/PointCloud2)
  • Input pointcloud
• /robot_pose (geometry_msgs/PoseWithCovarianceStamped)
  • Robot pose

Parameters

• ~<name>/store_num (int, default: 3):
  The number of pointclouds to store
• ~<name>/interval (float, default: 0.5 [m]):
  The interval between stored pointclouds
• ~<name>/leaf_size (float, default: 0.05 [m]):
  The leaf size of voxel grid filter