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tms_sd_terrain package from ros2_tms_for_construction repo

tms_db_manager tms_msg_db tms_msg_rp tms_msg_ts tms_msg_ur tms_sd_ground tms_sd_terrain tms_sd_theta tms_sp_machine tms_sp_sample tms_sp_sensing tms_ss_terrain_static tms_tf_gui sensing_msgs tms_ts_launch tms_ts_manager tms_ts_subtask tms_ur_button_input tms_ur_construction tms_ur_test

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Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License, Version 2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/irvs/ros2_tms_for_construction.git
VCS Type	git
VCS Version	main
Last Updated	2024-12-13
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 tms_sd_terrain package

Additional Links

Maintainers

Ryuichi Maeda

Authors

Ryuichi Maeda

tms_sd/tms_sd_terrain/README.md

tms_sd_terrain

tms_sd_tarrain package has two nodes tms_sd_terrain_static and tms_sd_terrain_dynamic.

tms_sd_terrain_static

tms_sd_terrain_static relay PointCloud2 msg to tms_ss_terrain_static.
tms_sd_terrain_dynamic

tms_sd_terrain_dynamic formats PointCloud2 msg to TmsdbGridFS msg and sends it to tms_db_writer_gridfs.

Received PointCloud2 msg is a point cloud data of terrain.

Usecase

1. Run tms_db_writer_gridfs or tms_db_manager

Detail description is here.

Receive TmsdbGridFS from tms_ss_terrain_static and store them in ROS2-TMS database.

Writer

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

2. Run tms_sd_terrain

Detail description is here

Relay static terrain’s PointCloud2 msg to tms_ss_terrain_static.

ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/topic/of/static/pointcloud2 input/terrain/dynamic/pointcloud2:=/topic/of/dynamic/pointcloud2

Inputs / Outputs

Inputs

Name	Type	Description
`/input/terrain/static/pointcloud2`	`sensor_msgs::msg::PointCloud2`	point cloud data of static terrain
`/input/terrain/dynamic/pointcloud2`	`sensor_msgs::msg::PointCloud2`	point cloud data of dynamic terrain

Outputs

Name	Type	Description
`/tms_db_gridfs_data`	`tms_msg_db::msg::TmsdbGridFS`	.pcd file info of static terrain or point cloud data of dynamic terrain

Parameters

Name	Type	Default Value	Description
`filename`	string	`filename`	.pcd file name of static terrain converted from PointCloud2

3. Run tms_ss_terrain_static

After the following command, a node is executed that subscribes PointCloud2 and publishes TmsdbGridFS including the .pcd or .ply file info converted from the PointCloud2.

ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply voxel_size:=0.1 octree_depth:=8 density_th:=0.1

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
	rclpy
	ros2launch
	sensor_msgs
	sensor_msgs_py
	tms_msg_db
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

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.

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API Docs Browse Code

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