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lidar_obstacle_detection package from guyueclass repo

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description 古月学院课程代码
Checkout URI https://github.com/guyuehome/guyueclass.git
VCS Type git
VCS Version main
Last Updated 2024-10-11
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The lidar_obstacle_detection package

Additional Links

No additional links.

Maintainers

  • xiaohu

Authors

No additional authors.
planning&perception/obstacle_detection_autonomous_driving/lidar-obstacle-detect/README.md

1.安装相应的 ros 依赖包

sudo apt-get install ros-melodic-jsk-rviz-plugins
sudo apt-get install ros-melodic-jsk-recognition-msgs
sudo apt-get install ros-melodic-autoware-msgs
sudo apt-get install ros-melodic-visualization-msgs

2.启动

rosbag play -l kitti_2011_09_30_drive_0016_synced.bag /kitti/velo/pointcloud:=/velodyne_points
roslaunch lidar_obstacle_detection lidar_obstacle_detection.launch

launch有两个节点，运行launch直接会打开rviz可视化

<launch>
    <node pkg="lidar_obstacle_detection" type="lidar_obstacle_detection_node" name="lidar_obstacle_detection_node" output="screen" />
        <rosparam file="$(find lidar_obstacle_detection)/config/lidar_obstacle_detection.yaml" command="load" />
    <!-- Start lidar_obstacle_detection.rviz -->
    <node pkg="rviz" type="rviz" name="rviz" output = "screen" args="-d $(find lidar_obstacle_detection)/rviz/lidar_obstacle_detection.rviz" required="true" />
</launch>

用kitti数据集，效果如下，大家可以自行根改config下的launch文件里的参数进行调试 在这里插入图片描述 在这里插入图片描述 可视化MarkerArray输出包括5个信息：

  • label：显示距离信息
  • hull：凸多边形拟合，绿色线
  • cube:蓝色的实心box
  • box：红色线条围成的box
  • centroid：bounding_box中心

上图为bounding_box未加方向，加方向后，效果不太好，对于道路两边的区域的姿态估计显然会不准确，可以将isEstimatePose字段设置为true，观测添加姿态估计后的效果

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
autoware_msgs
geometry_msgs
jsk_rviz_plugins
pcl_ros
roscpp
rospy
std_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_obstacle_detection at Robotics Stack Exchange

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