https://github.com/toshikinakamura0412/pointcloud_extractor_ros
ROS package for pointcloud extraction
https://github.com/toshikinakamura0412/pointcloud_extractor_ros
cpp mit-license pcd pcl pointcloud robotics ros ros-noetic
Last synced: about 1 month ago
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ROS package for pointcloud extraction
- Host: GitHub
- URL: https://github.com/toshikinakamura0412/pointcloud_extractor_ros
- Owner: ToshikiNakamura0412
- License: mit
- Created: 2024-07-10T14:50:26.000Z (almost 2 years ago)
- Default Branch: master
- Last Pushed: 2024-07-10T15:57:05.000Z (almost 2 years ago)
- Last Synced: 2025-01-21T16:45:41.059Z (over 1 year ago)
- Topics: cpp, mit-license, pcd, pcl, pointcloud, robotics, ros, ros-noetic
- Language: C++
- Homepage:
- Size: 2.02 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# pointcloud_extractor_ros
[](https://opensource.org/licenses/MIT)
ROS package for pointcloud extraction
The extracted pointcloud is saved to `~/.ros/cloud_filtered.pcd`
## Environment
- Ubuntu 20.04
- ROS Noetic
## Install and Build
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/pointcloud_extractor_ros.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build pointcloud_extractor_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
```
## How to use
```
roslaunch pointcloud_extractor_ros pointcloud_extractor.launch
```
## Nodes
### pointcloud_extractor
#### Published Topics
- /cloud_filtered (`sensor_msgs/PointCloud2`)
- The extracted pointcloud
#### Subscribed Topics
- /cloud_pcd (`sensor_msgs/PointCloud2`)
- The input pointcloud
- /move_base_simple/goal (`geometry_msgs/PoseStamped`)
- The pose for extracting pointcloud
#### Parameters
- ~\/max_z (float, default: `100.0` [m]):
- The max z value for filtering
- ~\/min_z (float, default: `-100.0` [m]):
- The min z value for filtering