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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
| Description | |
| Checkout URI | https://github.com/irvs/ros2_tms_for_construction.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-12-13 |
| 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 tms_ss_terrain_static package
Additional Links
Maintainers
- Ryuichi Maeda
Authors
- Ryuichi Maeda
tms_ss_terrain_static
tms_ss_terrain_static is a package for handling point cloud data of static terrain.
-
tms_ss_terrain_static
tms_ss_terrain_static converts PointCloud2 msg to .pcd file and sends the file info to tms_db_writer_gridfs.
-
tms_ss_terrain_static_mesh
tms_ss_terrain_static_mesh converts PointCloud2 msg to .ply (mesh) file and sends the file info to tms_db_writer_gridfs.
The received PointCloud2 msg is a point cloud data of static 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
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 filename_dem:=demo.npy voxel_size:=0.1 octree_depth:=8 density_th:=0.1 fill_nan_type:=avg resolution:=0.1
Inputs / Outputs
Inputs
| Name | Type | Description |
|---|---|---|
/tms_sd_terrain_static |
sensor_msgs::msg::PointCloud2 |
point cloud data of static terrain |
Outputs
| Name | Type | Description |
|---|---|---|
/tms_db_gridfs_data |
tms_msg_db::msg::TmsdbGridFS |
.pcd or .ply file info of static terrain or static terrain’s mesh |
Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
filename |
string | filename.pcd |
.pcd file name of static terrain converted from PointCloud2 |
filename_mesh |
string | filename_mesh.ply |
.ply file name of static terrain’s mesh converted from PointCloud2 |
filename_dem |
string | filename_dem.npy |
.npy file name of static terrain’s DEM converted from PointCloud2 |
voxel_size |
float | 0.0 |
voxel size of downsampling |
octree_depth |
int | 2 |
octree depth to generate mesh |
density_th |
float | 0.1 |
density threshold to remove vertices and triangles that have a low support |
fill_nan_type |
string | none |
type to fill nan (you can choose avg, median, or other which means don’t fill) |
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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