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

Outputs

Parameters

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