ROS index logo ROS Index
  1. Home
  2. Packages
  3. lidar_obstacle_detection
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

lidar_obstacle_detection package from guyueclass repo

robot_hmi ros1_pyqt5_app class1_ros_qt_demo robot_voice xfei_robot double_arm_demo double_arm_description double_arm_moveit_config double_arm_teach marm_description marm_moveit_config marm_standardfirmata_driver fast_lio livox_ros_driver loam_livox r3live cam_laser_calib pcl_tutorials mbot_description mbot_gazebo mbot_navigation mbot_teleop hector_compressed_map_transport hector_geotiff hector_geotiff_plugins hector_imu_attitude_to_tf hector_imu_tools hector_map_server hector_map_tools hector_mapping hector_marker_drawing hector_nav_msgs hector_slam hector_slam_launch hector_trajectory_server probot_anno_moveit_config probot_demo probot_description probot_anno_ikfast_manipulator_plugin lidar_obstacle_detection qr_tf robot_vision tensorflow_object_detector vision_msgs probot_bringup industrial_core industrial_deprecated industrial_msgs industrial_robot_client industrial_robot_simulator industrial_trajectory_filters industrial_utils simple_message c800_description c800_moveit_config moveit_lerp_motion_planner learning_launch learning_parameter learning_service learning_tf learning_topic limo_base limo_bringup limo_demo limo_description limo_visions ares_description bringup racecar_description turtletrajectory fuzzypid pid_identification pid_tuning pigot_stl_model anymal_b_simple_description laikago_controller laikago_description laikago_gazebo laikago_msgs yobotics_description yobotics_gazebo yobotics_teleop mini_cheetah_urdf gazebo_pkg race_navigation teleop_twist_keyboard webots_controller webots_ros humanoid_msgs humanoid_nav_msgs op3_bringup op3_description op3_gui_demo op3_kinematics_dynamics op3_online_walking_module_msgs op3_walking_module op3_walking_module_msgs op3_webots_controller op3_webots_gui robotis_controller_msgs robotis_framework_common robotis_math

API Docs
Browse Code

Package Summary

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

Repository Summary

Checkout URI https://github.com/guyuehome/guyueclass.git
VCS Type git
VCS Version main
Last Updated 2024-10-11
Dev Status UNMAINTAINED
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

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.