User:Aeh84

From GICL Wiki
Revision as of 15:04, 15 June 2012 by Aeh84 (Talk | contribs)

Jump to: navigation, search

Contents

Registering pointclouds in ROS with PCL for Robot_Lab_(Spring_2012)

find some data

The data I used is dataset 14 at http://kos.informatik.uni-osnabrueck.de/3Dscans/

My python script, publish_from_file.py, can be easily adjusted to read any similar format, wherein each line gives the coordinates for a point. PLY is another option; PLY pointclouds can be loaded and viewed in Meshlab.

I didn't write any code to read pcl files, but this is the format that the pointcloud library reads and writes, so if you found some pcl data and like c++ that would also work.

pointcloud registration

$ rosmake register_pointclouds $ roscore $ rosrun register_pointclouds register $


tbd

  • can rosparams be set in a config file somewhere and auto-loaded?
  • it seems the /map frame in rviz is different from the /map topic? because rviz can't find the /map frame even when the /map topic is being published.

rviz view controls

  • regular click: rotate the view
  • shift-click: move the view or focal point
  • host click / scroll: zoom

create a map from log data and watch it on rviz

$ roscore
$ rosparam set use_sim_time true
$ rosrun rviz rviz
# make sure map is checked and subscribed to topic /map
$ rosrun gmapping slam_gmapping scan:=base_scan
$ rosbag play ~/ros/gmap_tester.bag
$ rosrun map_server map_saver

topics

  • gmapping:
    • /base_scan
    • /clock
    • /map
    • /map_metadata
    • /slam_gmapping/entropy
    • /tf

registration

mapping from point clouds