lidar_dev

This repository contains the LiDAR node used for perception development.

Currently, the project requires ROS and PCL to run.

Bench Test Details

The current rosbag file has the LiDAR mounted at about 0.45m height.

Use the 2020-04-13-15-31-43.bag available on the MUR Driverless sharepoint to playback on a loop. Note that the rosbag file was recorded using lidar_mode=1024x10 which corresponds to 1024 horizontal resolution and 10 Hz.

rosbag play -l 2020-04-13-15-31-43.bag

Then call the launch file as follows.

roslaunch lidar_dev cluster_pipeline.launch

Dependencies

Currently the ground segmentation part relies on the following package, and its dependencies.

https://github.com/lorenwel/linefit_ground_segmentation
https://github.com/catkin/catkin_simple.git
https://github.com/ethz-asl/glog_catkin.git

So to set this up, go to the catkin workspace. For example ~/Document/catkin_ws. It is also assumed that you have the full ros-melodic-desktop-full installed.

cd ~/Document/catkin_ws/src
git clone https://github.com/MURDriverless/lidar_dev
git clone https://github.com/lorenwel/linefit_ground_segmentation
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/glog_catkin.git

Also install the following if you do not have glog-dev.

sudo apt install libgoogle-glog-dev

Config Changes

For indoor testing with 2020-04-13-15-31-43.bag change the sensor_height to 0.45 in the segmentation_params.yaml.

The config file is located at

catkin_ws/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation_params.yaml