gary-robotics / tuw_laserscan_features

Feature extractor for laserscan message such as lines and line segments

tuw_laserscan_features for ROS2

Feature extractor for laserscan message such as lines and line segments

nodes

The package holds currently the following nodes

• linedetection
• feature_viz
• composed_node

linedetection

Line detection based on a divide and conquer algoritm and detects lines within a sensor_msgs/LaserScan msg and publishes line segments tuw_geometry_msgs/LineSegments

• Input:
  • Topic: scan
  • Type: sensor_msgs/LaserScan
• Output:
  • Topic line_segments
  • Type: tuw_geometry_msgs/LineSegments
• Parameter:
  • threshold_split_neighbor, bool, default: false
  • threshold_split, double, default: 0.05, split threshold [m]
  • min_length, double, default: 0.1, min line length [m]
  • min_points_per_line, int , default: 20, minimal number of points supporting a line
  • min_points_per_unit, int, default: 10, minimal number of points supporting a unit

feature_viz

It utilizes the tuw::figure class for a visualization

• Input:
  • Topic: scan
    • Type: sensor_msgs/LaserScan
  • Topic line_segments
    • Type: tuw_geometry_msgs/LineSegments

composed_node

A demo which hows how to combine multiple nodes into one process. In this case the linedetection and feature_viz node are fused into one process.