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Overview

Laser Scanner measurements (or a rangefinder sensor) require to be pre-processed before to be analized by the twoLevelMTTD. The algorithm will elaborate only non-environment measurements (people or object in movement), so separate environment and non-environment measurements is necessary. This package provide background node which is responsabile of this operation: if an pre-builted environment map is avaiable by map_server, laser measurements will be compared with the environment and only non-environment measurement will be used. The output is a sensor_msgs/PointCloud referred to a target_frame ("/map" as default).

Nodes

background

Subscribed Topics

/base_scan (sensor_msgs/LaserScan)
  • Data received from the 2D laser scanner.

Published Topics

/MTTDI1/object_point_cloud (sensor_msgs/PointCloud)

Services

static_map (nav_msgs/GetMap)

Parameters

~target_frame_id (string, default: "/map") ~laser_frame_id (string, default: "/base_scan")
  • The name of the laser scanner frame.

Wiki: MTTD_background_subtraction (last edited 2010-11-12 10:14:04 by Enea Scioni)