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Node

mrpt_local_obstacles_node

A node that maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.

Published Topics

local_map_pointcloud (sensor_msgs/PointCloud)

• The local map as a point cloud. The frame_id is <frameid_robot> (default: odom).

Parameters

~frameid_reference (string, default: "odom")

• TF frame name for the reference frame

~frameid_robot (string, default: "base_link")

• TF frame name for the robot

~source_topics_2dscan (string, default: "scan,laser1")

• A comma-separate list of topics to subscribe to for 2D sensor_msgs/LaserScan messages.

~topic_local_map_pointcloud (string, default: "local_map_pointcloud")

• Name of the topic where to publish the local map

~time_window (double, default: 0.2)

• For how long past observations will be stored in the local map (seconds)

~publish_period (double, default: 0.1)

• How often to publish the local map (seconds)

~show_gui (bool, default: true)

• Show an independent window with a 3D view of the local obstacles map

Required tf Transforms

<value of ~frameid_robot> (typ: base_link) → <each sensor frameid> (typ: scan, etc)

• local pose of each sensor on the robot

<value of ~frameid_reference> (typ: odom) → <value of ~frameid_robot> (typ: base_link)

• pose of the robot on the reference frame

Demo

This demo requires mvsim. It simulates one robot with 2 laser scanners and builds and publish the local obstacle maps to /local_map_pointcloud:

roslaunch mrpt_local_obstacles demo_with_mvsim.launch