ira_laser_tools upload

src/ira_laser_tools/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ira_laser_tools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.4 (2020-02-14)
+------------------
+* fix worning
+  "<command-line>:0:0: warning: missing whitespace after the macro name"
+* change email maintainer
+* Contributors: Pietro Colombo
+
+1.0.3 (2020-02-13)
+------------------
+* fix `#14 <https://github.com/iralabdisco/ira_laser_tools/issues/14>`_
+  now we use math library for pi
+* bugfix
+* Merge branch 'kinetic'
+* fix issue fix`#14 <https://github.com/iralabdisco/ira_laser_tools/issues/14>`_
+* Create LICENSE
+* Create LICENSE
+* Merge pull request `#11 <https://github.com/iralabdisco/ira_laser_tools/issues/11>`_ from mikaelarguedas/patch-1
+  add libvtk-qt dependency to fix debian stretch builds
+* add libvtk-qt dependency to fix debian stretch builds
+* Contributors: Mikael Arguedas, Pietro Colombo, pietrocolombo
+
+1.0.2 (2018-08-28)
+------------------
+* add libvtk-qt dependency to fix debian stretch builds
+  and link to paper in README.md
+* Contributors: Pietro Colombo
+
+1.0.1 (2018-07-18)
+------------------
+
+1.0.0 (2018-07-11 10:30:16 +0200)
+---------------------------------
+* add url for wiki in pakage.xml
+* adding license
+* introduce a param in param file
+  expand the range limit of laser
+  and minor bug fix
+* Merge pull request `#1 <https://github.com/iralabdisco/ira_laser_tools/issues/1>`_ from leonziegler/installprocedure
+  Added possibility to install artifacts.
+  Merged. Thanks :-)
+* Merge branch 'master' of projects.ira.disco.unimib.it:/repository/git/ira_laser_tools
+  Conflicts:
+  CMakeLists.txt
+* this commit fixes `#265 <https://github.com/iralabdisco/ira_laser_tools/issues/265>`_ @5m
+* Fixed the Eigen3 required in the CMakeLists.txt
+* updating readme
+* removing eigen dependency
+* Update laserscan_virtualizer.launch
+  description of base_frame param. updated
+* Added possibility to install artifacts.
+* changes to README.md
+* global refactoring
+* Merge branch 'master' of https://github.com/iralabdisco/ira_laser_tools
+* going to version 1.0; useful tutorial on .launch file for laservirtualizer; the overall virtualscanner procedure is now simpler
+* First README.md version
+* adding readme file
+* Fixed the include bug
+* First commit
+* Contributors: Augusto Luis Ballardini, Axel Furlan, Fabio Nava, Iralab Universita Milano Bicocca, Leon Ziegler

src/ira_laser_tools/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ira_laser_tools)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS laser_geometry roscpp sensor_msgs std_msgs tf dynamic_reconfigure pcl_ros)
+
+find_package(Eigen3 REQUIRED)
+
+find_package(PCL REQUIRED)
+
+# bugfix for g++-Warning
+#   "<command-line>:0:0: warning: missing whitespace after the macro name"
+remove_definitions(-DDISABLE_LIBUSB-1.0)
+
+generate_dynamic_reconfigure_options(cfg/laserscan_multi_merger.cfg cfg/laserscan_virtualizer.cfg)
+
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+   INCLUDE_DIRS
+#  LIBRARIES laser_merger
+#  CATKIN_DEPENDS laser_geometry roscpp sensor_msgs std_msgs tf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+
+#add_definitions(${EIGEN_DEFINITIONS})
+
+## Declare a cpp library
+# add_library(laser_merger
+#   src/${PROJECT_NAME}/laser_merger.cpp
+# )
+
+## Declare a cpp executable
+#add_executable(laser_merger_node src/laser_merger_node.cpp)
+#target_link_libraries(laser_merger_node ${catkin_LIBRARIES})
+
+add_executable(laserscan_multi_merger src/laserscan_multi_merger.cpp)
+target_link_libraries(laserscan_multi_merger ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(laserscan_multi_merger ${PROJECT_NAME}_gencfg)
+
+add_executable(laserscan_virtualizer src/laserscan_virtualizer.cpp)
+target_link_libraries(laserscan_virtualizer ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(laserscan_virtualizer ${PROJECT_NAME}_gencfg)
+
+## Specify libraries to link a library or executable target against
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS laserscan_multi_merger laserscan_virtualizer
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_merger.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/ira_laser_tools/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2019, Iralab
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

src/ira_laser_tools/README.md

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+This library includes some tools for laser handling in ROS. At the moment two nodes are available:
+
+ - laserscan_multi_merger
+ - laserscan_virtualizer
+
+Both use part of the pointcloud_to_laserscan code available in ROS.
+
+Laserscan_merger allows to easily and dynamically (rqt_reconfigure) merge multiple, same time,
+single scanning plane, laser scans into a single one; this is very useful for using applications
+like gmapping, amcl, pamcl on vehicles with multiple single scanning plane laser scanners, as these
+applications require just one laser scan as input. The scanning planes need to be approximately the
+same. The resulting scan will appear generated from a single scanner dis-regarding actual
+occlusions as seen from the merged scans; for instance, consider the case of 2 scanners mounted on
+the 2 front corners A and B of a rectangular vehicle (we live in 2D); each scanner gives out a
+270degs scan, from along the long side of the vehicle going backward to toward the other scanner.
+The merged scan will appear as generated from a virtual scanner positioned in C, halfway A and B,
+and measuring the same measures of the merges scans, irregardless of the occlusions that would
+apply to a real scanner positioned in C.
+
+Laserscan_virtualizer allows to easily and dynamically (rqt_reconfifure) generate virtual laser
+scans from a pointcloud such as the one generated by a multiple scanning plane laser scanner, e.g.,
+a velodyne scanner). The only requirement is the rototranslation between the virtual laser scanner
+and the base frame to be known to TF.
+
+The documentation is at the moment very brief, for any question please contact us at
+[email protected] or [email protected]
+
+Paper link: https://arxiv.org/abs/1411.1086
+
+Both nodes compile under catkin in hydro/indigo and use PCL1.7

src/ira_laser_tools/cfg/laserscan_multi_merger.cfg

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+#!/usr/bin/env python
+PACKAGE = "laserscan_multi_merger"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+import math
+
+gen = ParameterGenerator()
+
+gen.add("angle_min", double_t, 0, "Minimum angle of the output scan", -2.36, -math.pi, math.pi)
+gen.add("angle_max", double_t, 0, "Maximum angle of the output scan", 2.36, -math.pi, math.pi)
+gen.add("angle_increment", double_t, 0, "Angle increment of the output scan", 0.0058, 0, math.pi)
+gen.add("time_increment", double_t, 0, "Time increment of the output scan", 0.0, 0, 1)
+gen.add("scan_time", double_t, 0, "Scan time of the output scan", 0.033333333, 0, 1)
+gen.add("range_min", double_t, 0, "Range min of the output scan", 0.45, 0, 50)
+gen.add("range_max", double_t, 0, "Range max of the output scan", 25.0, 0, 1000)
+
+exit(gen.generate(PACKAGE, "laserscan_multi_merger", "laserscan_multi_merger"))

src/ira_laser_tools/cfg/laserscan_virtualizer.cfg

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+#!/usr/bin/env python
+PACKAGE = "laserscan_virtualizer"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+import math
+
+gen = ParameterGenerator()
+
+gen.add("angle_min", double_t, 0, "Minimum angle of the output scan", -2.36, -math.pi, math.pi)
+gen.add("angle_max", double_t, 0, "Maximum angle of the output scan", 2.36, -math.pi, math.pi)
+gen.add("angle_increment", double_t, 0, "Angle increment of the output scan", 0.0058, 0, math.pi)
+gen.add("time_increment", double_t, 0, "Time increment of the output scan", 0.0, 0, 1)
+gen.add("scan_time", double_t, 0, "Scan time of the output scan", 0.033333333, 0, 1)
+gen.add("range_min", double_t, 0, "Range min of the output scan", 0.45, 0, 50)
+gen.add("range_max", double_t, 0, "Range max of the output scan", 25.0, 0, 50)
+
+exit(gen.generate(PACKAGE, "laserscan_virtualizer", "laserscan_virtualizer"))

src/ira_laser_tools/launch/laserscan_multi_merger.launch

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+<!--
+DESCRITPION
+-->
+
+
+<launch>
+  <!-- time delay -->
+
+  <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen">
+    <param name="destination_frame" value="base_link"/>
+    <param name="cloud_destination_topic" value="/merged_cloud"/>
+    <param name="scan_destination_topic" value="/scan"/>
+    <param name="laserscan_topics" value ="/laser_f/scan_filtered /laser_r/scan_filtered" /> <!-- LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE -->
+
+    <param name="angle_min" value="-3.14"/>
+    <param name="angle_max" value="3.14"/>
+    <param name="angle_increment" value="0.00272707710974"/>
+    <!-- <param name="angle_increment" value="0.00545415421948"/> -->
+    <param name="scan_time" value="0.0962427780032"/>
+    <param name="range_min" value="0.15"/>
+    <param name="range_max" value="12.0"/>
+  </node>
+</launch>

src/ira_laser_tools/launch/laserscan_virtualizer.launch

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+<!--
+FROM: http://wiki.ros.org/tf#static_transform_publisher
+
+<<static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms>>
+Publish a static coordinate transform to tf using an x/y/z offset and yaw/pitch/roll. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
+== OR ==
+<<static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms>>
+Publish a static coordinate transform to tf using an x/y/z offset and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
+
+-->
+
+<launch>
+
+        <!-- DEFINE HERE THE STATIC TRANFORMS, FROM BASE_FRAME (COMMON REFERENCE FRAME) TO THE VIRTUAL LASER FRAMES-->
+        <!-- WARNING: the virtual laser frame(s) *must* match the virtual laser name(s) listed in param: output_laser_scan -->
+        <node pkg="tf" type="static_transform_publisher" name="ira_static_broadcaster1" args="0 0 0 0 0.3 0 laser_frame scan1 1000" />
+        <node pkg="tf" type="static_transform_publisher" name="ira_static_broadcaster2" args="0 0 0 0 0.0 0 laser_frame scan2 1000" />
+        <node pkg="tf" type="static_transform_publisher" name="ira_static_broadcaster3" args="0 0 0 0.0 0.0 0.3 laser_frame scan3 1000" />
+        <node pkg="tf" type="static_transform_publisher" name="ira_static_broadcaster4" args="0 0 0 0.0 0.0 -0.3 laser_frame scan4 1000" />
+
+        <node pkg="ira_laser_tools" name="laserscan_virtualizer" type="laserscan_virtualizer" output="screen">
+                <param name="cloud_topic" value="/cloud_in"/>       <!-- INPUT POINT CLOUD -->
+                <param name="base_frame" value="/laser_frame"/>     <!-- REFERENCE FRAME WHICH LASER(s) ARE RELATED-->
+                <param name="output_laser_topic" value ="/scan" />  <!-- VIRTUAL LASER OUTPUT TOPIC, LEAVE VALUE EMPTY TO PUBLISH ON THE VIRTUAL LASER NAMES (param: output_laser_scan) -->
+                <param name="virtual_laser_scan" value ="scan1 scan2 scan3 scan4" /> <!-- LIST OF THE VIRTUAL LASER SCANS. YOU MUST PROVIDE THE STATIC TRANSFORMS TO TF, SEE ABOVE -->
+        </node>
+</launch>

src/ira_laser_tools/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>ira_laser_tools</name>
+  <version>1.0.4</version>
+  <description>The ira_laser_tools package. These nodes are meant to provide some utils for lasers, like listen to different laser scan sources and merge them in a single scan or generate virtual laser scans from a pointcloud.</description>
+
+  <url>http://www.ros.org/wiki/ira_laser_tools</url>
+  <maintainer email="[email protected]">Augusto</maintainer>
+  <maintainer email="[email protected]">Pietro</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>laser_geometry</build_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>libpcl-all-dev</run_depend>
+  <run_depend>pcl_ros</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>laser_geometry</run_depend>
+  <run_depend>roscpp</run_depend>
+
+  <!-- Needed to work around https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=894656 on Debian Stretch -->
+  <build_depend>libvtk-qt</build_depend>
+  <run_depend>libvtk-qt</run_depend>
+
+</package>