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Only released in EOL distros:  

mav_tools: laser_height_estimation | mav_msgs

Package Summary

A tool to measure the distance to the floor/ceiling using a a laser scanner.

mav_tools: ab_filter | city_flyer_launch | flyer_interface | laser_height_estimation | mav_common | mav_ctrl_interface | mav_msgs | mav_odom_interface | mav_srvs | quad_joy_teleop

Package Summary

A tool to measure the distance to the floor/ceiling using a a laser scanner.

laser_height_estimation_mirrors_01.png

laser_height_estimation_mirrors_02.png

CAD Files

The CAD files to build your own can be found here on thingiverse

Usage

The package provides a height estimate using a Hokuyo laser scanner.

Details

Laser scan data is split using laser_scan_splitter and the regions being reflected downward or upward are fed into the height estimation system.

Example

You can run the laser_height_estimation on a pre-recorded bag file that comes with the package. First, make sure you have the scan_tools stack downloaded and installed by following the instructions here.

Next, make sure you have the necessary tools installed:

   1 rosmake rviz tf rosbag

Finally, run the demo:

   1 roslaunch laser_height_estimation demo.launch

Nodes

References

This package was inspired by the work of Grzonka et al He et al

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports.

Please use our Trac to report bugs or request features.


2019-07-13 12:50