isaac_ros_pointcloud_utils

Source code on GitHub.

Overview

The ROS nodes in this package allows for sensor_msgs::msg::PointCloud2 and sensor_msgs::msg::LaserScan to be converted to isaac_ros_pointcloud_interfaces::msg::FlatScan which can then be used with the isaac_ros_occupancy_grid_localizer.

API

Isaac ROS PointCloud to FlatScan

Usage

ros2 launch isaac_ros_pointcloud_utils isaac_ros_pointcloud_to_flatscan.launch.py

ROS Parameters

ROS Parameter	Type	Default	Description
threshold_x_axis	bool	false	Enable X Axis Threshold
threshold_y_axis	bool	false	Enable Y Axis Threshold
min_x	double	-1.0	Min X axis threshold
max_x	double	1.0	Max X axis threshold
min_y	double	-1.0	Min Y axis threshold
max_y	double	1.0	Max Y axis threshold
min_z	double	-0.1	Min Z axis threshold
max_z	double	0.1	Max Z axis threshold
max_points	int	150000	Maximum number of 3D points in input Point Cloud used to pre allocate GPU memory

ROS Topics Subscribed

ROS Topic	Type	Description
pointcloud	sensor_msgs::msg::PointCloud2	Input Point Cloud

ROS Topics Published

ROS Topic	Type	Description
flatscan	isaac_ros_pointcloud_interfaces::msg::FlatScan	Output Flat Scan

Isaac ROS LaserScan to FlatScan

Usage

ros2 launch isaac_ros_pointcloud_utils isaac_ros_laserscan_to_flatscan.launch.py

ROS Topics Subscribed

ROS Topic	Type	Description
scan	sensor_msgs::msg::LaserScan	Input LaserScan

ROS Topics Published

ROS Topic	Type	Description
flatscan	isaac_ros_pointcloud_interfaces::msg::FlatScan	Output Flat Scan

Isaac ROS FlatScan to LaserScan

Usage

ros2 launch isaac_ros_pointcloud_utils isaac_ros_flatscan_to_laserscan.launch.py

ROS Parameters

ROS Parameter	Type	Default	Description
angle_min	double	0.0	The starting angle of the generated LaserScan
angle_max	double	2 * M_PI	The ending angle of the generated LaserScan
angle_increment	double	M_PI / 180	The angle increment per LaserScan reading
time_increment	double	0.0001	The time increment per LaserScan reading
max_range_fallback	double	200.0	If the Max Range of the input FlatScan == 0, then this parameter is used to populate ‘Max Range’ field of the output LaserScan.

ROS Topics Subscribed

flatscan

isaac_ros_pointcloud_interfaces::msg::FlatScan

Input Flat Scan

ROS Topics Published

ROS Topic	Type	Description
scan	sensor_msgs::msg::LaserScan	Input LaserScan