Only released in EOL distros:   electric fuerte groovy

Overview

This is an experimental package. Significant interface changes are anticipated. Some are outlined below.

It provides ROS nodes for publishing observations about obstacles in the road.

ROS Nodes

observers_node

Observers for obstacles in lanes.

Subscribed Topics

velodyne/obstacles (sensor_msgs/PointCloud)

• known obstacles from Velodyne

obstacles (sensor_msgs/PointCloud2)

• all known obstacles

roadmap_local (art_msgs/ArtLanes)

• local road map

Published Topics

observations (art_msgs/ObservationArray)

• An array of current observations.

visualization_marker_array (visualization_msgs/MarkerArray)

• Marks for occupied map polygons.

Parameters

map_frame_id (str, default: "/map")

• Absolute frame ID of road map.

robot_frame_id (str, default: "vehicle")

• Frame ID of robot (resolved using tf_prefix if defined).

max_range (double, default: 80.0)

• Maximum valid obstacle range (meters).

points_on_road

Publish point cloud of obstacles detected on the road.

Subscribed Topics

velodyne/obstacles (sensor_msgs/PointCloud)

• current obstacles from Velodyne

roadmap_local (art_msgs/ArtLanes)

• local road map

Published Topics

obstacles/points_on_road (sensor_msgs/PointCloud)

• Point cloud with each lane quadrilateral containing an obstacle.

To Do List

• Read input in sensor_msgs/PointCloud2 format.

• Publish output in sensor_msgs/PointCloud2 format.

• Make better topic names.