Documentation Status

scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | scan_to_cloud_converter

Package Summary

Documented

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | scan_to_cloud_converter

Package Summary

Documented

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS.

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ncd_parser.png

Details

The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts the data in ROS. The messages are broadcast in real time. Currently, the data extracted includes the odometry of the robot and the readings from the left and right SICK laser scanners. Additional transforms are provided between the odometric frame and the two lasers, as described in the NCD paper.

To use the ncd_parser, you need to obtain an .alog file from the New College Dataset website.

Example

You can run the ncd_parser on a small .alog file included in the package for demo purposes. First, make sure you have the scan_tools stack downloaded and installed by following the instructions here.

Next, make sure you have the necessary tools installed:

   1 rosmake rviz

Finally, run the demo:

   1 roslaunch ncd_parser demo.launch

You should see a result similar to the video below.

Nodes

ncd_parser

The ncd_parser node treads in .alog data files from the New College Dataset and broadcasts the data in ROS.

Published Topics

scan_left (sensor_msgs/LaserScan)
  • The scan from the left SICK laser range-finder.
scan_right (sensor_msgs/LaserScan)
  • The scan from the right SICK laser range-finder.

Parameters

start (double, default: 0.0)
  • the start of the broadcast, in seconds. Messages in the .alog file prior to the start time are skipped.
end (double, default: -1.0)
  • the end of the broadcast, in seconds. Messages in the .alog file after to the end time are skipped. If set to -1, all messages in the file will be played.
rate (double, default: 1.0)
  • the rate of publishing messages. 1.0 sets the rate to real-time.

Provided tf Transforms

mapodom
  • the robot odometry reported in the .alog file
odomlaser_left
  • pose of the left SICK laser in the robot frame
odomlaser_right
  • pose of the right SICK laser in the robot frame

Acknowledgements

QuadTree_Alog.alog used with the permission of Dr. Paul Newman, Oxford University.

M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, The new college vision and laser data set, International Journal for Robotics Research (IJRR), vol. 28, no. 5, pp. 595599, May 2009.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through github (requires github account) or by emailing the maintainers.

Wiki: ncd_parser (last edited 2012-08-31 20:29:25 by IvanDryanovski)