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toposens: toposens_description | toposens_driver | toposens_markers | toposens_msgs | toposens_pointcloud | toposens_sync

Package Summary

PCL integration for TS sensors mounted on Turtlebot3.

Overview

This package enables conversion of messages of type toposens_msgs/TsScan into messages of type sensor_msgs/PointCloud2.

Surface Normals

Since version 2.0 the package makes use of the standard PointCloud type PointXYZINormal instead of the custom type TsPoint. As a result the PointCloud also contains information about the surface normals.

Due to the specular reflection behavior of ultrasound, the surface normal of the detected object can be represented by a vector pointing from the detected point towards the sensor’s position while the point was recorded. This normal vector is added to the PointCloud representation. For a more detailed explanation of the physics behind Toposens sensors see Physics of 3D Ultrasonic Sensors.

ROS Nodes

ts_cloud_node

translates messages of type toposens_msgs/TsScan into messages of type sensor_msgs/PointCloud2. Also logs the PointCloud into a pcd file.

Subscribed Topics

ts_scans (toposens_msgs/TsScan)

Published Topics

ts_cloud (sensor_msgs/PointCloud2) ts_cloud_normals (invalid message type for MsgLink(msg/type))

Parameters

~scans_topic (std_msgs/String) ~target_frame (std_msgs/String) ~pcd_save_interval (int) ~pcd_path (std_msgs/String) ~lifetime_normals_vis (float)


2020-01-11 13:11