ROS API
The cob_3d_registration package provides a configurable node for point cloud registration. Input data is supposed to come from 3-D cameras like Microsoft Kinect.
registration_nodelet
The registration_nodelet nodelet takes in sensor_msgs/PointCloud2 messages and registers successive frames to each other. The register process can be triggered by the key_frame_detector node. Registration is activated by a trigger service.Action Goal
trigger_mapping/goal (cob_3d_mapping_msgs/TriggerMappingActionGoal)- empty
Action Result
trigger_mapping/result (cob_3d_mapping_msgs/TriggerMappingActionResult)- empty
Action Feedback
trigger_mapping/feedback (cob_3d_mapping_msgs/TriggerMappingActionFeedback)- empty
Subscribed Topics
/point_cloud2 (sensor_msgs/PointCloud2)- The input point cloud
Published Topics
/point_cloud2_aligned (sensor_msgs/PointCloud2)- The aligned point cloud
Services
trigger_keyframe (cob_srvs/Trigger)- Triggers a map update
Parameters
~world_frame_id (string, default: /map)- Specifies frame id for which odometry is looked up.
- For registration different algorithms can be used. Allowed values are: icp, icp_lm, gicp, icp_moments, icp_fpfh, icp_narf, icp_edges, rgbdslam, info, cor
- Sets the cubic voxelsize in meter for preprocessing. Only needed for "icp", "icp_moments" and"icp_fpfh".
Usage/Examples
roslaunch cob_3d_registration registration.launch
Trigger mapping by calling
rosrun cob_3d_mapping_point_map trigger_mapping.py <start|stop>
