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velodyne_utils: velodyne_height_map

Package Summary

Obstacle detection for 3D point clouds using a height map algorithm.

velodyne_utils: velodyne_height_map

Package Summary

Obstacle detection for 3D point clouds using a height map algorithm.

velodyne_utils: velodyne_height_map

Package Summary

Obstacle detection for 3D point clouds using a height map algorithm.

velodyne_utils: velodyne_height_map

Package Summary

Obstacle detection for 3D point clouds using a height map algorithm.

Package Summary

Obstacle detection for 3D point clouds using a height map algorithm.

Reporting bugs

ROS Nodes and Nodelets

HeightMapNodelet

The height map nodelet reads point cloud data, publishing detected obstacles and clear space. The velodyne_pointcloud/TransformNodelet publishes data in the appropriate format.

Subscribed Topics

velodyne_points (sensor_msgs/PointCloud2)

Published Topics

velodyne_obstacles (sensor_msgs/PointCloud2) velodyne_clear (sensor_msgs/PointCloud2)

Parameters

cell_size (double, default: 0.5) full_clouds (bool, default: false) grid_dimensions (int, default: 320) height_threshold (double, default: 0.25)

Examples

Start the height map nodelet in a separate process. Running as a standalone nodelet prevents zero-copy message sharing.

$ rosrun nodelet nodelet standalone velodyne_height_map/HeightMapNodelet

This launch file runs the height map nodelet in the same process with the Velodyne device driver and a velodyne_pointcloud nodelet which publishes the points transformed into the "/odom" frame. This approach minimizes data copying.

<launch>

  <!-- start nodelet manager and driver nodelets -->
  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
    <arg name="pcap"
           value="$(find velodyne_pointcloud)/tests/class.pcap"/>
  </include>

  <!-- start transform nodelet using test calibration file -->
  <include file="$(find velodyne_pointcloud)/launch/transform_nodelet.launch">
    <arg name="calibration"
         value="$(find velodyne_pointcloud)/tests/angles.config"/>
  </include>

  <!-- start heightmap nodelet -->
  <include file="$(find velodyne_height_map)/launch/heightmap_nodelet.launch"/>

</launch>

heightmap_node

The height map node works exactly like the HeightMapNodelet, running as a separate ROS node. All topics and parameters are identical.

Examples

Run the height map algorithm as a separate node.

$ rosrun velodyne_height_map heightmap_node

Run the node with a 100x100 grid of 10cm cells.

$ rosrun velodyne_height_map heightmap_node _grid_dimensions:=100 _cell_size:=0.1

Run the node with anything more than 5cm high considered an obstacle.

$ rosrun velodyne_height_map heightmap_node _height_threshold:=0.05


2019-07-20 13:21