scan_filter_sub_ = new message_filters::Subscriber<sensor_msgs::LaserScan>(node_, "scan", 5); scan_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(*scan_filter_sub_, tf_, odom_frame_, 5); scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1))...
launch里头加node <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter"> <rosparam command="load" file="$(find data_process)/launch/data_process_config.yaml" /> <remap from="/scan" to="/laser/scan" /> </node> config.yaml scan_filter_chain: - name: angle...
box_filter_example.launch <launch><nodepkg="laser_filters"type="scan_to_scan_filter_chain"output="screen"name="laser_filter"><rosparamcommand="load"file="$(find pibot_bringup)/params/box_filter.yaml"/></node></launch> box_filter.yaml scan_filter_chain: - name: box_filter type: laser...
pibot_bringup/launch/box_filter_example.launch pibot_bringup/params/box_filter.yaml 根据车上宽度(200mm)和长度(300mm)分别修改box_filter.yaml中的参数 设置稍微超出一点 x方向我们设置-0.15之0.15,y方向设置-0.2至0.2 scan_filter_chain: - name: box_filter type: laser_filters/LaserScanBoxFilter params:...
scan_filter_chain: - name: Remove over 0.35 meters on the right type: laser_filters/LaserScanBoxFilter params: box_frame: base_footprint min_x: -3.5 max_x: 3.5 min_y: -3.5 max_y: -0.35 min_z: -0.1 max_z: 0.1 - name: Remove over 0.35 meters on the left type: laser_filters/La...
MessageFilter<sensor_msgs::LaserScan>(*laser_scan_sub_,7*tf_,8odom_frame_id_,9100);1011laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived,this, _1));1213voidAmclNode::laserReceived(constsensor_msgs::LaserScanConstPtr&laser_scan){14this->tf_->transformPose(base_...
bag_record.write("message_filter/velodyne_points",point_cloud2->header.stamp.now(),*point_cloud2); bag_record.write("message_filter/scan",laser_scan->header.stamp.now(),*laser_scan); bag_record.write("message_filter/camera/compressed",ominivision_msg->header.stamp.now(),*ominivision_msg...
- @b "~throttle_scans": 处理的扫描数据门限,默认每次处理1个扫描数据(可以设置更大跳过一些扫描数据) @b [int] throw away every nth laser scan - @b "~base_frame": 机器人基座坐标系 @b [string] the tf frame_id to use for the robot base pose ...
(iii).gmapping源码包框架梳理总结:1.slam_gmapping包为封装;2.openslam_gmapping包为核心:核心包有5个:grid (栅格地图实现)、gridfastslam(基于栅格的FastSLAM)、particlefilter(粒子滤波)、scanmatcher(激光/地图匹配)、sensor(里程计和激光数据处理)。
params: lower_threshold: 0.5 upper_threshold: 3.0 disp_histogram: 0 interp_filter_chain: ros__parameters: filter1: name: interpolation type: laser_filters/InterpolationFilter shadow_filter_chain: ros__parameters: filter1: name: shadows type: laser_filters/ScanShadowsFilter params: min_angle: 80....