ROS index logo ROS Index
  1. Home
  2. Packages
  3. ros2_laser_scan_merger
 
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.

ros2_laser_scan_merger package from ros2_laser_scan_merger repo

ros2_laser_scan_merger

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License Apache Lisence 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mich1342/ros2_laser_scan_merger.git
VCS Type git
VCS Version main
Last Updated 2024-03-16
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

A Package to combine several laser scan value

Additional Links

No additional links.

Maintainers

  • mich1342

Authors

No additional authors.
README.md

ros2_laser_scan_merger

laser scan merger configurator A full c++ based ros2 package to merge several laserscan / lidars topics by creating a new virtual laserscan topic. Each source laserscan could be configure via the parameter to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan.

Prerequisite

  1. ROS2 (Tested on Humble)
  2. Your laserscans driver (Tested using RPLIDAR S1 and RPLIDAR S1)
  3. RVIZ2
  4. RQT
  5. Pointcloud to Laserscan

How to use

  1. Clone the repo to your ros2 workspace
git clone https://github.com/mich1342/ros2_laser_scan_merger.git

  1. Edit the topic name in the launch file if needed

  2. Build and Source

colcon build && source install/setup.bash
  1. Launch the package
    • To launch without visualizer
ros2 launch ros2_laser_scan_merger merge_2_scan.launch.py
  • To launch with visualizer (RVIZ2)
ros2 launch ros2_laser_scan_merger visualize_merge_2_scan.launch.py

Both of the launch file already integrated with the pointclound_to_laserscan package

  1. Open RQT to set the parameter
rqt

Available Parameters

All parameters are being set in the params.yaml file inside the config directory.

All parameters similar for the first and second lidar data. The {x} marks means the index pattern for the lidar data. Example: show{x} means show1 and show2 for 2 lidar configuration.

Parameter Name Default Value Description
scanTopic{x} /lidar_1/scan
/lidar_2/scan		 laser scan or lidar topic
show{x} true set as true to include the first lidar data or false to hide the specific lidar data
flip{x} false set as true for upside down lidar installation
laser{x}AngleMax 180 maximum angle in degree of the lidar data that are being used for the final merged result, usefull to hide some part of the lidars data. will highly depends on each lidar specification
laser{x}AngleMin -180 minimum angle in degree of the lidar data that are being used for the final merged result, usefull to hide some part of the lidars data. will highly depends on each lidar specification
inverse{x} false set as true to inverse the hidden lidar data based on the laser{x}AngleMax and laser{x}AngleMin value
laser{x}Alpha 0 angular offset of the lidar data
laser{x}XOff -0.3 linar offset of the lidar data in x axis
laser{x}YOff -0.475 linar offset of the lidar data in y axis
laser{x}ZOff 0.176 linar offset of the lidar data in z axis
laser{x}B 0 set color to the resulted pointclound2 data (0-255)
laser{x}G 0 set color to the resulted pointclound2 data (0-255)
laser{x}R 255 set color to the resulted pointclound2 data (0-255)
pointCloudTopic cloud_in pointcloud2 published topic (adjusted to pointcloud_to_laserscan package)
pointCloutFrameId laser frame id of the pointcloud2 published data
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
ament_cmake
ament_lint_auto
ament_lint_common
rclcpp
std_msgs
pcl_conversions
rcl_interfaces
sensor_msgs
rcutils
tf2_geometry_msgs
geometry_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ros2_laser_scan_merger 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.