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smartrob: dlut_motor_hokuyo | dlut_move_base | dlut_pc_odom

Package Summary

This package is used to convert the laser scan to the 3D point cloud of the robot's surroundings while the robot is moving.

dlut_smartrob: dlut_motor_hokuyo | dlut_move_base | dlut_pc_odom

Package Summary

The dlut_pc_odom package

  • Maintainer: Zhuang Yan <zhuang AT dlut.edu DOT cn>, Wu Nai Liang <wunailiang AT gmail DOT com>
  • Author: Zhuang Yan <zhuang AT dlut.edu DOT cn>, Yan Fei, Dong Bing Bing
  • License: BSD
  • Source: git https://github.com/ZhuangYanDLUT/dlut_smartrob.git (branch: groovy-devel)
dlut_smartrob: dlut_motor_hokuyo | dlut_move_base | dlut_pc_odom

Package Summary

The dlut_pc_odom package

  • Maintainer: Zhuang Yan <zhuang AT dlut.edu DOT cn>, Wu Nai Liang <wunailiang AT gmail DOT com>
  • Author: Zhuang Yan <zhuang AT dlut.edu DOT cn>, Yan Fei, Dong Bing Bing
  • License: BSD
  • Source: git https://github.com/ZhuangYanDLUT/dlut_smartrob.git (branch: indigo-devel)

Overview

dlut_pc_odom is a package used for receive laser data from hokuyo,then process these data and publish pointcloud2 message.

Usage

Node "dlut_pc_odom" can be started by running:

   1 rosrun dlut_pc_odom dlut_pc_odom

Nodes

dlut_pc_odom

The serial_com node is a base controller node.It must run on a computer attached directly to the motor controller by serial port.

Subscribed Topics

scan (sensor_msgs/LaserScan)
  • the laser messages form hokuyo.
is_run_pch (std_msgs/Bool)
  • Subscribe the message whether the holder begin to rotate or not.
motor_param (dlut_motor_hokuyo/motor)
  • Subscribe the param of motor.
odom (nav_msgs/Odometry)
  • Get the odometry value.

Published Topics

hokuyo_point_cloud2 (pcl/PointCloud<PointType>)
  • pointcloud2 data.

Parameters

is_first_flag_ (bool, default: false)
  • Whether the first data after the sick rotated.
is_first_circle_ (bool, default: false)
  • Whether the data is belong to the first circle.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports.

Wiki: dlut_pc_odom (last edited 2013-07-18 02:33:45 by wunailiang)