[Perception] ROS pointcloud(/PointCloud2, 3D) to laser(/scan, 2D): pointcloud_to_laserscan, velodyne_height_map

💡 본 문서는 'ROS pointcloud(/PointCloud2, 3D) to laser(/scan, 2D)'에 대해 정리해놓은 글입니다.
ROS pointcloud(/PointCloud2, 3D) 데이터를 2D 형태(scan)로 변환하는 방법에 대해 정리하였으니 참고하시기 바랍니다.

1. Package: pointcloud_to_laserscan

1) Install package: pointcloud_to_laserscan

$ sudo apt install ros-noetic-pointcloud-to-laserscan

2) Setting launch file

Subscribed Topics

cloud_in (sensor_msgs/PointCloud2): The input point cloud.

Published Topics

scan (sensor_msgs/LaserScan): The output laser scan

<?xml version="1.0"?>

<launch>
    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
        <remap from="cloud_in" to="/cloud_in"/>
        <remap from="scan" to="/front/scan"/>
        <rosparam>
            target_frame: velodyne_base_link # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: -10.0
            max_height: 10.0

            angle_min: -3.141591 # -M_PI
            angle_max: 3.141591 # M_PI
            angle_increment: 0.0087 # M_PI/360.0
            scan_time: 0.3333
            use_inf: true
            range_min: 0.3
            range_max: 100.0
            inf_epsilon: 1.0

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>

    </node>

</launch>

3) Execute

$ roslaunch jackal_velodyne pointcloud_to_laserscan.launch

2. Package: velodyne_height_map(clear, obstacle, costmap)

1) Install package: velodyne_height_map

$ cd ~/catkin_ws/src  
$ git clone https://github.com/amirx96/velodyne_height_map_occupancy_map
$ cd ..
$ catkin_make

2) Execute

# Launch the original velodyne height map node first via:
$ rosrun velodyne_height_map heightmap_node

# Launch the heightmap to costmap node:
$ rosrun velodyne_height_map heightmap_costmap_node

참고

• [ROS wiki] pointcloud_to_laserscan: http://wiki.ros.org/pointcloud_to_laserscan
• [Github] pointcloud_to_laserscan ros2: https://github.com/ros-perception/pointcloud_to_laserscan
• [Youtube] [ROS Q&A] 120 - How To Convert a PointCloud Into a Laser Scan: https://www.youtube.com/watch?v=IFNikTHN1pk
• [TheConstruct] how-to-convert-a-pointcloud-into-a-laser-scan: https://www.theconstructsim.com/ros-qa-120-how-to-convert-a-pointcloud-into-a-laser-scan/
• [Github] velodyne_height_map: https://github.com/jack-oquin/velodyne_height_map
• [ROS] velodyne_height_map: http://wiki.ros.org/velodyne_height_map
• [Github] velodyne_height_map_occupancy_map: https://github.com/amirx96/velodyne_height_map_occupancy_map
• [Blog] Installing and running the Velodyne Height Map package on ROS Melodic distribution:  https://dominoc925.blogspot.com/2019/06/installing-and-running-velodyne-height.html