Add binning and box masking. - #14
Open
jgoppert wants to merge 2 commits into
Open
Conversation
Signed-off-by: James Goppert <james.goppert@gmail.com> Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Contributor
|
@mingdonghu @ldrobotsensor this also closes several issues and makes it work nicely in ROS 2: |
Signed-off-by: James Goppert <james.goppert@gmail.com>
bperseghetti
approved these changes
Nov 17, 2023
bperseghetti
approved these changes
Nov 17, 2023
PetervdPerk-NXP
approved these changes
Nov 17, 2023
This was referenced Nov 17, 2023
Closed
|
Will this fix be merged? |
Contributor
Sure would be nice if it could get merged! I don't think the two owners of this repository have been on github for a while (looking at their profiles for their commit histories). https://github.com/rudislabs/ldlidar_stl_ros2/tree/pr-binning |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Adds binning and box filter. The binning makes this compliant with slam_toolbox expectations. Instead of sending as many sample as are available, this sets a fixed number of angular bins and fills them based on the samples.
The box filter is similar to the angular mask, but can be used to mask out regions on your robot more precisely than angular masking. If you have a narrow mast for instance, box binning will allow you to ignore it based on x, y position instead of based on angle. This is more robust and you get to keep more of the lidar scan. We also tried using the box filter from ros2_laser_filters, but the cpu load was very high compared to this implementation.