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  Show EOL distros: 

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

mrpt_navigation: mrpt_bridge | mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_msgs | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

Node

mrpt_local_obstacles_node

A node that maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

Published Topics

local_map_pointcloud (sensor_msgs/PointCloud)

Parameters

~frameid_reference (string, default: "odom") ~frameid_robot (string, default: "base_link") ~source_topics_2dscan (string, default: "scan,laser1") ~topic_local_map_pointcloud (string, default: "local_map_pointcloud") ~time_window (double, default: 0.2) ~publish_period (double, default: 0.1) ~show_gui (bool, default: true)

Required tf Transforms

<value of ~frameid_robot> (typ: base_link)<each sensor frameid> (typ: scan, etc) <value of ~frameid_reference> (typ: odom)<value of ~frameid_robot> (typ: base_link)

Demo

This demo requires mvsim. It simulates one robot with 2 laser scanners and builds and publish the local obstacle maps to /local_map_pointcloud:

roslaunch mrpt_local_obstacles demo_with_mvsim.launch

local_obstacle_maps_screenshot.png


2019-11-16 13:02