Muilti laser merger to pointcloud2 and laserScan for ROS2.
- ROS Humble under Ubuntu 22.04 LTS
$ git clone https://github.com/qaz9517532846/laser_merger2.git| Topic | Description |
|---|---|
| pointcloud | Merger pointcloud2 msg. |
| scan | Merger laser scan msg. |
| Parameter | Description |
|---|---|
| target_frame | target tf frame(Default: "base_link"). |
| scan_topics | List of topics on which to read the laser scans |
| point_cloud_topics | List of topics on which to read the point clouds (PointCloud2) |
| transform_tolerance | TF transform tolerance. |
| rate | Publish rate(Hz). |
| queue_size | Subscribe queue size. |
| max_range | Merge laser scan max range. |
| min_range | Merge laser scan min range. |
| max_angle | Merge laser scan max angle. |
| min_angle | Merge laser scan min angle. |
| scan_time | Merge laser scan scan time. |
| angle_increment | Merge laser scan angle increment. |
| inf_epsilon | inf epsilon value. |
| use_inf | use inf. |
| output_pointcloud_topic | Name of the output merged point cloud topic |
| output_scan_topic | Name of the output merged scan topic |
$ ros2 launch laser_merger2 laser_merger.launch.pyFor example:
$ ros2 launch laser_merger2 laser_merger.launch.py target_frame:=base scan_topics:="[/lidar, /lidar2]" output_pointcloud_topic:=/merged_pclNote that laser_merger2 can merge LaserScan and/or PointCloud2 messages, depending on the topics you provide with the scan_topics and point_cloud_topics arguments.
- Laser 1 Data
- Laser 2 Data
- Merge Process Data Result
[1]. pointcloud_to_laserscan, https://github.com/ros-perception/pointcloud_to_laserscan
This repository is for your reference only. copying, patent applications, and academic journals are strictly prohibited.
Copyright © 2023 ZM Robotics Software Laboratory.
I would like to express our sincere thanks to @leroycorentin for supporting ROS2 Humble contributions to this project.