Module #10: 3D Point Clouds RtabMapping

Module # 5 Overview :

• package : point_cloud_processing
• What are point clouds and how autonomous cars use them
  • Point Clouds with PCL
  • PCL road segmentation
  • 3D mapping with RTAB
  • Objects classification in 3D lidar data

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble

Running Project

• Create you own workspace ( if not done already )

  mkdir -p ~/ros2_my_ws/src
  cd ~/ros2_my_ws/src
  

• Clone repository ( if not done already )

  https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/ros2_my_ws/src/robotics_software_engineer
  vcs import < dependencies.repos
  cd ~/ros2_my_ws/
  rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  cd ~/ros2_my_ws/
  colcon build && source ~/ros2_my_ws/install/setup.bash
  

• Obtain Kitti Dataset and place in workspace directory

  https://github.com/Deepak3994/Kitti-Dataset/blob/master/raw_data_downloader.sh
  ## this will take time and no need to download all
  

• Rename bag file in ros2_kitti_publisher/src/node/kitti_publishers_main.cpp to what you have downloaded as shown below for example below is 2011_09_26/2011_09_26_drive_0015_sync

  
  path_point_cloud_ = "data/2011_09_26/2011_09_26_drive_0015_sync/velodyne_points/data/";
  path_image_gray_left_ = "data/2011_09_26/2011_09_26_drive_0015_sync/image_00/data/";
  path_image_gray_right_ = "data/2011_09_26/2011_09_26_drive_0015_sync/image_01/data/";
  path_image_color_left_ = "data/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/";
  path_image_color_right_ = "data/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/";
  path_oxts_ = "data/2011_09_26/2011_09_26_drive_0015_sync/oxts/data/";
  

• Kitti Data Processing and run Bag File

   ros2 launch  point_cloud_processing process_kitti.launch.py
  

• Run Rviz with view configuration

  ros2 launch  point_cloud_processing bring_rviz.launch.py