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scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_splitter | ncd_parser | polar_scan_matcher

Package Summary

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | scan_to_cloud_converter

Package Summary

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | scan_to_cloud_converter

Package Summary

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)
scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)
scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)

ncd_parser.png

Details

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts the data in ROS. The messages are broadcast in real time. Currently, the data extracted includes the odometry of the robot and the readings from the left and right SICK laser scanners. Additional transforms are provided between the odometric frame and the two lasers, as described in the NCD paper.

To use the ncd_parser, you need to obtain an .alog file from the New College Dataset website.

Example

You can run the ncd_parser on a small .alog file included in the package for demo purposes. 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

Finally, run the demo:

   1 roslaunch ncd_parser demo.launch

You should see a result similar to the video below.

Nodes

ncd_parser

The ncd_parser node treads in .alog data files from the New College Dataset and broadcasts the data in ROS.

Published Topics

scan_left (sensor_msgs/LaserScan) scan_right (sensor_msgs/LaserScan)

Parameters

start (double, default: 0.0) end (double, default: -1.0) rate (double, default: 1.0)

Provided tf Transforms

mapodom odomlaser_left odomlaser_right

Acknowledgements

QuadTree_Alog.alog used with the permission of Dr. Paul Newman, Oxford University.

M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, The new college vision and laser data set, International Journal for Robotics Research (IJRR), vol. 28, no. 5, pp. 595599, May 2009.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through github (requires github account) or by emailing the maintainers.


2019-06-22 12:56