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Dev/prefiltering nodelet #280

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b595a2a
remove the transformation between lidar and base_lin
muzi2018 Feb 25, 2025
2a659f6
remove others part from prefiltering_nodelet
muzi2018 Feb 25, 2025
8307309
Convert the PointCloud2 message to pcl::PointCloud
muzi2018 Feb 25, 2025
d4d2b64
update
muzi2018 Feb 25, 2025
af13fff
Convert back to pcl::PointCloud
muzi2018 Feb 25, 2025
8a094cc
syn
muzi2018 Feb 26, 2025
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1 change: 1 addition & 0 deletions apps/floor_detection_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ class FloorDetectionNodelet : public nodelet::Nodelet {
* @param cloud_msg point cloud msg
*/
void cloud_callback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg) {
std::cout << "floor" << std::endl;
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
pcl::fromROSMsg(*cloud_msg, *cloud);

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1 change: 1 addition & 0 deletions apps/prefiltering_nodelet.cpp
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Expand Up @@ -135,6 +135,7 @@ class PrefilteringNodelet : public nodelet::Nodelet {
points_pub.publish(*filtered);
}


pcl::PointCloud<PointT>::ConstPtr downsample(const pcl::PointCloud<PointT>::ConstPtr& cloud) const {
if(!downsample_filter) {
return cloud;
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1 change: 1 addition & 0 deletions apps/scan_matching_odometry_nodelet.cpp
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Expand Up @@ -129,6 +129,7 @@ class ScanMatchingOdometryNodelet : public nodelet::Nodelet {

read_until->frame_id = "/filtered_points";
read_until_pub.publish(read_until);
// std::cout << "PointCloud2ConstPtr ..." << std::endl;
}

void msf_pose_callback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose_msg, bool after_update) {
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8 changes: 5 additions & 3 deletions launch/hdl_graph_slam.launch
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Expand Up @@ -11,11 +11,11 @@
<!-- ***** map -> odom -> base_link -> velodyne ***** -->
<!-- these can be named in the following -->
<!-- topic for hdl to find velodyne points -->
<arg name="points_topic" default="/velodyne_points" />
<arg name="points_topic" default="/D435_head_camera/depth/color/points" />
<!-- what should the map frame be called -->
<arg name="map_frame_id" default="map" />
<!-- what should the base link frame be called -->
<arg name="base_link_frame_id" default="base_link" />
<arg name="base_link_frame_id" default="pelvis" />
<!-- what should the odom frame be called -->
<arg name="lidar_odom_frame_id" default="odom" />

Expand All @@ -28,7 +28,7 @@
<arg name="robot_odom_frame_id" default="robot_odom" />

<!-- transformation between lidar and base_link -->
<node pkg="tf" type="static_transform_publisher" name="lidar2base_publisher" args="0 0 0 0 0 0 $(arg base_link_frame_id) velodyne 10" />
<!-- <node pkg="tf" type="static_transform_publisher" name="lidar2base_publisher" args="0 0 0 0 0 0 $(arg base_link_frame_id) D435_head_camera_link 10" /> -->

<!-- in case you use velodyne_driver, comment out the following line -->
<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"/>
Expand Down Expand Up @@ -93,6 +93,7 @@
<param name="normal_filter_thresh" value="20.0" />
</node>


<!-- hdl_graph_slam_nodelet -->
<node pkg="nodelet" type="nodelet" name="hdl_graph_slam_nodelet" args="load hdl_graph_slam/HdlGraphSlamNodelet $(arg nodelet_manager)">
<param name="points_topic" value="$(arg points_topic)" />
Expand Down Expand Up @@ -173,4 +174,5 @@
<param name="map_frame_id" value="$(arg map_frame_id)" />
<param name="odom_frame_id" value="$(arg lidar_odom_frame_id)" />
</node>

</launch>