This module can calculate the closest distance to the nearest obstacle using Convex Polygon of Lidar Point Cloud.
LOAM velodyne is used for generating vehicle's odometry. (https://github.com/laboshinl/loam_velodyne)
space filter which is used for ground removal filter is from Autoware packages (https://gitlab.com/autowarefoundation/autoware.ai)
It's completely working on ROS kinetic, Ubuntu 16.04.
Youtube is available here. https://youtu.be/TkKlLtUDQE0
- install ros-kinetic.
- clone this repository.
- move it to your
catkin_ws
or custom workspace. - build repository.
catkin_make
- update your workspace.
source devel/setup.bash
- run lcdd.
roslaunch lcdd_bundle_start bundle_all.launch
- It only needs to subscribe
/velodyne_points
topic. - enjoy!