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dynamic_cloud_detector

Build Status

Overview

The white and red point clouds are determined to be static and dynamic, respectively.

The color of the map indicates occupancy; the blacker the area, the higher the occupancy.

demo

Enviornment

  • Ubuntu 16.04 or 18.04
  • ROS Kinetic or Melodic

Requirement

Install and Build

cd catkin_workspace/src
git clone https://github.com/amslabtech/dynamic_cloud_detector.git
cd ..
catkin_make

Nodes

dynamic_cloud_detector

Published topics

  • /cloud/static (sensor_msgs/PointCloud2)
    • point cloud on high-occupancy grid
  • /cloud/dynamic (sensor_msgs/PointCloud2)
    • point cloud on low-occupancy grid
  • ~/occupancy_grid (nav_msgs/OccupancyGrid)
    • for visualization

Subscribed topics

  • /velodyne_obstacles (sensor_msgs/PointCloud2)
    • point cloud without ground
  • /odom/complement (nav_msgs/Odometry)
    • odometry complemented by IMU. raw odometry or estimated pose is also allowed

Parameters

  • RESOLUTION
    • resolution of occupancy grid map (default: 0.25[m])
  • WIDTH
    • widht and height of occupancy grid map (default: 40[m])
  • OCCUPANCY_THRESHOLD
    • the grid cell whose occupancy is lower than this threshold is considered as dynamic (default: 0.2)
  • BEAM_NUM
    • this node uses beam model for searching free space (default: 720)
  • BUFFER_SIZE
    • this parameter defines the buffer size for point cloud and odometry (default: 40)
  • SKIP_SCAN_FLAG
    • if this flag is true, this node adds new data to buffer once in twice (default: false)

How to Use

roslaunch dynamic_cloud_detector dynamic_cloud_detector.launch