Laser scan processing tools. The meta-package contains:
-
laser_ortho_projector: calculates orthogonal projections of LaserScan messages -
laser_scan_matcher: an incremental laser scan matcher, using Andrea Censi's Canonical Scan Matcher implementation. It downloads and installs Andrea Censi's Canonical Scan Matcher [1] locally. -
laser_scan_sparsifier: takes in a LaserScan message and sparsifies it -
laser_scan_splitter: takes in a LaserScan message and splits it into a number of other LaserScan messages -
ncd_parser: reads in .alog data files from the New College Dataset [2] and broadcasts scan and odometry messages to ROS. -
scan_to_cloud_converter: converts LaserScan to PointCloud messages.
- ROS is installed
apt-get install python-wstool
Following is an example with ROS Melodic.
-
Create a catkin workspace and navigate to its source directory (e.g.
~/catkin_ws/src). -
In your Catkin workspace, download source and build with the following commands.
cd ~/catkin_ws/src
git clone [email protected]:RoboticaUtnFrba/scan_tools.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash
http://wiki.ros.org/scan_tools
[1] A. Censi, "An ICP variant using a point-to-line metric" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008
[2] 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.