Laser

Brief Description

A ROS package to fit a 2D laser data of containing a wall with a line segment.

• Inputs:

  • /base_scan: 2D laser scan

• Outputs:

  • /hackathon/laser_debug: within debug mode, separate points on the wall with other points
  • /hackathon/laser:
    • range (rng), angle parameterization of line with respect to the laser coordinate system
    • rng: float64, [-inf, +inf]
    • angle: float64, [0, pi]
    • left_rng: float64, distance to the left point of the line segment
    • right_rng: float64, distance to the right point of the line segment

Instructions to use this node:

1. Navigate to the root of the workspace and build the workspace with

$ cd catkin_ws 
$ source devel/setup.bash or source devel/setup.zsh
$ catkin_make

2. Play the recorded dataset in a loop

$ rosbag play src/laser/dataset/2018-09-28-17-39-40-wall.bag -l

3. Run the rosnode in debug mode

$ rosrun laser laser --debug

4. Run Rviz for visualization

$ rviz

5. In Rviz Fixed Frame: laser_link LaserScan: /hackathon/laser_debug

For unittest:

$ python src/tests/test_laser.py

Results