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3D to 2D lidar scan #357

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Daniel-Martin576 opened this issue Nov 8, 2020 · 0 comments
Open

3D to 2D lidar scan #357

Daniel-Martin576 opened this issue Nov 8, 2020 · 0 comments
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@wbeard01
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@Daniel-Martin576
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Goal: Previously, we used a 2D lidar so our mapping stack took in a 2D lidar scan, but now we want to use a 3D lidar. Either add a small node than takes in the 3D lidar scan and thresholds it at a fixed z/height-value or see if our stack can somehow take in a 3D scan to add obstacles (we used costmap_2d). The first option is more likely what is going to end up happening, but you can maybe test the second one.

Files Edited (at least): rr_evgp/src/lidar_z_threshold/lidar_z_threshold.cpp

Success Criteria:

  • Node parameters configurable through the launch file
  • Can make a 2D map like before using the 3D lidar
@wbeard01 wbeard01 self-assigned this Nov 8, 2020
wbeard01 added a commit that referenced this issue Nov 22, 2020
@wbeard01
Add lidar_z_threshold node and update relevant CMake files
8d41811 
Added a new subdirectory in rr_evgp called lidar_z_threshold and
within it a new node named lidar_z_threshold.cpp. The node checks
for a specific z value and tolerance value as parameters to threshold
the velodyne_points topic. This is the start of a resolution to issue #357.
@wbeard01 wbeard01 mentioned this issue Jan 24, 2021
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@Daniel-Martin576 @wbeard01