jacobperron / pc_pipe

A ROS 2 pointcloud pipeline demo

A pointcloud pipeline demo.

Includes bringup scripts for a Gazebo simulation and stereo_image_proc along with a mock image filter node that sits between images and the stereo pipeline.

Depends

• ROS 2 (Foxy or later)

Build

Source ROS 2 installation, for example:

    source foxy_ws/install/setup.bash

Fetch source dependencies:

    mkdir -p pc_pipe_ws/src
    cd pc_pipe_ws
    wget https://raw.githubusercontent.com/jacobperron/pc_pipe/master/pc_pipe.repos
    vcs import src < pc_pipe.repos
    rosdep install --from-paths src --ignore-src

Build:

    colcon build

Launch simulation

Do this once per shell:

    source pc_pipe_ws/install/setup.bash

Launch the pipeline, including Gazebo simulator:

    ros2 launch pc_pipe bringup.launch.xml start_gazebo:=true viz:=true

Optional start a subscription to confirm point cloud messages are received:

    ros2 topic echo --qos-reliability reliable --no-arr /mycamera/points2

Trigger a stereo image capture:

    ros2 topic pub -1 mycamera/image_trigger std_msgs/msg/Empty

Launch without simulation

Similar to the steps for launching the simulation, but with mock nodes for publishing images and producing a point cloud.

Do this once per shell:

    source pc_pipe_ws/install/setup.bash

Launch the pipeline:

    ros2 launch pc_pipe mock_bringup.launch.xml

Optional start a subscription to confirm point cloud messages are received:

    ros2 topic echo --qos-reliability reliable --no-arr /mycamera/points2

Trigger a stereo image capture:

    ros2 topic pub -1 mycamera/image_trigger std_msgs/msg/Empty