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Package Summary

The cob_3d_mapping_geometry_map_v2 package provides a node for processing and visualization of 3D environment data.

Overview

The node subscribes to messages of type PlaneScene, handling shapes of types polygon. The shapes are transformed to a common target frame by /tf. Reoccuring shapes are associated and merged accordingly. For every input message the resulting aggregated geometric map is published and ready for visualization in rviz.

cob_3d_mapping_geometry_map_v2

Subscribed Topics

scene (cob_3d_mapping_msgs/PlaneScene)
  • Input topic with geometric scene including shapes.
color_image (sensor_msgs/Image)
  • optional: Input topic for environment with images for more details.
depth_image (sensor_msgs/Image)
  • optional: Input topic for environment with images for more details.
/tf (/tf)
  • Transformations, connecting target frames
camera_info (sensor_msgs/CameraInfo)
  • Description of camera configuration for projection matrix.

Published Topics

/geometry_map/map_array (cob_3d_mapping_msgs/ShapeArray)
  • Array with geometric shapes
scan (sensor_msgs/LaserScan)
  • Virtual laser scan of the geometry map (excluding floor and ceiling) which can be used for obstacle avoidance.
cartons (cob_object_detection_msgs/DetectionArray)
  • Annotated objects of the geometry map.

Services

clear_map (cob_srvs/Trigger)
  • Clears the geometry map.
get_map (cob_3d_mapping_msgs/GetGeometryMap)
  • Returns the current geometry map.
set_map (cob_3d_mapping_msgs/SetGeometryMap)
  • Sets a map, overrides existing map
modify_map (cob_3d_mapping_msgs/ModifyMap)
  • Returns the modified map

Parameters

~map_frame_id (string, default: "/map")
  • Target frame the map is supposed to be transformed to. Make sure, that the corresponding transformation is available as /tf topic in the input data.
~enable_tf (bool, default: true)
  • If set to false, transformation of incoming shapes to the map frame is deactivated. Use this option if no tf is available.
~d (double, default: 0.05)
  • Distance threshold. If distance between two shapes falls below this value, they are considered merge candidates.
~cos_angle (double, default: 0.97)
  • Cosine of angle threshold. If angular merge criteria falls below this value, shapes are considered merge candidates.

Usage

The geometry map node can be started using the corresponding launch file:

roslaunch cob_3d_mapping_geometry_map_v2 geometry_map.launch

Save map to a bag file

rosrun cob_3d_mapping_geometry_map_v2 get_geometry_map map.bag

Clear the map

rosservice call geometry_map/clear_map

Load an initial map from a bag file

  • Edit set_geometry_map.launch: set the path to map.bag as file_path
  • Load the map

roslaunch cob_3d_mapping_geometry_map_v2 set_geometry_map.launch

Example

A sample point_map of a scene, recorded in a kitchen.

The result of using the cob_3d_mapping_geometry_map is shown below. It consists of published shapes, geometry markers and cylinder primitives.

If one intends to use the enhanced capabilities provided by interactive markers, the node is started according to cob_3d_visualization.

Wiki: cob_3d_mapping_geometry_map_v2 (last edited 2018-01-12 06:57:47 by josh)