cob_scan_unifier

General description

This package implements a node that unifies scan messages from a given numer of laser scanners

Node: scan_unifier_node

The actual node that unifies a given number of laser scans

Parameters

input_scans (List of std::string) The names of the scan topics to subscribe to as list of strings.

loop_rate (double, default: 100.0 [hz]) The loop rate of the ros node.

Published Topics

scan_unified (sensor_msgs::LaserScan) Publishes the unified scans.

Subscribed Topics

input_scan_name (sensor_msgs::LaserScan) The current scan message from the laser scanner with topic name specified via the parameter input_scan_topics

Services

Services called

Changelog for package cob_scan_unifier

0.7.17 (2024-04-30)

0.7.16 (2024-02-20)

• Merge pull request #443 from mbeutelspacher/fix/scan_unifier_negative_angle_increment fix(cob_scan_unifier): fix handeling of negative angle_increments
• fix(cob_scan_unifier): fix handeling of negative angle_increments laser scanners that are upside down often have negative angle_increments (and also angle_max < angle_min). Since we use angle_max=M_PI angle_min=-M_PI in the unified scan here, we can't just copy the angle increment but need to use the absolute value of angle_increments
• Contributors: Felix Messmer, Max Beutelspacher

0.7.15 (2023-11-06)

• Merge pull request #440 from benmaidel/feature/angle_increment_independend remove hardcoded angle_increment value
• make cob_scan_unifier angle_increment independet by using the info from the input scan
• Contributors: Benjamin Maidel

0.7.14 (2022-11-17)

0.7.13 (2022-07-29)

0.7.12 (2022-03-15)

0.7.11 (2022-01-12)

0.7.10 (2021-12-23)

0.7.9 (2021-11-26)

0.7.8 (2021-10-19)

• Merge pull request #424 from lpk1950/publish_unified_points Publish unified points
• final touches
• rename point_cloud to pointcloud
• Changes based on the review
• Changes on review: Separate publisher
• Format
• Format
• check for the point_cloud param and set to false by default
• publish pointcloud only when the parameter is set
• change in topic name
• publish unified scan as unified pointcloud
• Contributors: Felix Messmer, fmessmer, karthik

0.7.7 (2021-08-02)

0.7.6 (2021-05-10)

0.7.5 (2021-04-06)

• Merge pull request #420 from lindemeier/feature/improve_performance performance boost
• performance boost
• Merge pull request #418 from fmessmer/fix_catkin_lint fix catkin_lint
• fix catkin_lint
• Contributors: Felix Messmer, fmessmer, tsl

0.7.4 (2020-10-14)

• Merge pull request #417 from fmessmer/test_noetic test noetic
• Bump CMake version to avoid CMP0048 warning
• Contributors: Felix Messmer, fmessmer

0.7.3 (2020-03-18)

0.7.2 (2020-03-18)

• Merge pull request #408 from fmessmer/ci_updates [travis] ci updates
• catkin_lint fixes
• Contributors: Felix Messmer, fmessmer

0.7.1 (2019-11-07)

0.7.0 (2019-08-06)

• Merge pull request #396 from HannesBachter/indigo_dev 0.6.15
• Contributors: Felix Messmer

0.6.15 (2019-07-17)

0.6.14 (2019-06-07)

0.6.13 (2019-03-14)

• Merge pull request #385 from fmessmer/scan_unifier_range_initialization initialize ranges with max_range rather than zero
• add explanatory comment
• initialize ranges with max_range rather than zero
• Contributors: Felix Messmer, fmessmer

0.6.12 (2018-07-21)

• update maintainer
• Merge pull request #366 from ipa-bnm/feature/scan_unifier merge up to 4 laserscans
• merge up to 4 laserscans
• Contributors: Benjamin Maidel, Richard Bormann, fmessmer

0.6.11 (2018-01-07)

• Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
• Merge pull request #353 from ipa-fxm/update_maintainer update maintainer
• update maintainer
• Merge pull request #341 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

0.6.10 (2017-07-24)

0.6.9 (2017-07-18)

• remove commented line
• Added sleep in constructor, new topic parameter parsing, better error handling.
• Some small fixes
• Cleanup
• Use message_filter::Synchronizer (there is still a bug)
• manually fix changelog
• Contributors: Elias Marks, Matthias Gruhler, ipa-fxm

0.6.8 (2016-10-10)

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

• changed scan_unifier maintainer
• filtered out scan unifier and moved to new directory
• Contributors: Benjamin Maidel

0.6.3 (2015-08-31)

• remove trailing whitespace
• migration to package format v2, indentation fixes
• Merge remote-tracking branch 'origin-ipa320/hydro_dev' into indigo_dev
• reduced MAGIC NUMBER
• check range values
• round index
• Contributors: ipa-josh, ipa-mig

0.6.2 (2015-06-17)

• cob_scan_unifier: get rid of exported but uninstalled include path
• cob_scan_unifier: fix include folder stuff
• Contributors: ipa-mig

0.6.1 (2014-09-18)

0.6.0 (2014-09-10)

0.5.2 (2014-08-28)

• add changelog
• cob_scan_unifier: fix laser projection. wrong parameter
• cob_scan_unifier: added intensities to unified scan and use the nearest range measurement from all incoming scan
• adjusted license header in cob_scan_unifier
• updated license tag in cob_scan_unifier
• another indentation-fix-attempt
• merge
• removed start_delay from scan-unifier configs and intendation-fix
• Update scan_unifier_node.h fixed intendation
• renamed ipa_navigation_scan_uniffier to cob_scan_unifier
• Contributors: Florian Mirus

0.5.1 (2014-03-24)