tanrye / lidar_closest_distance_detector

Calculate the closest distance to the nearest obstacle using the convex polygons of pointcloud

Lidar Closest Distance Detector(LCDD) ROS package.

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

Instruction

0. install ros-kinetic.
1. clone this repository.
2. move it to your catkin_ws or custom workspace.
3. build repository.

• catkin_make

4. update your workspace.

• source devel/setup.bash

5. run lcdd.

• roslaunch lcdd_bundle_start bundle_all.launch

6. It only needs to subscribe /velodyne_points topic.
7. enjoy!

If you have any questions, leave it in Issues!