Lidar2D Consolidation Agent

This is a generic Tether agent for consolidation of scan data from multiple lidar sensors.
It expects to receive "scan" messages from one or more lidar sensors, and will apply DBSCAN clustering to find groups of points that belong to distinct elements.

Configuration

JSDoc annotations for the main Config object can be found in Config type def

Plugs

See AsyncAPI YAML

Calibration

Use https://github.com/RandomStudio/tether-tracking-viz to view and save configuration/calibration for your setup.

Setup

Install dependencies with:

npm install

Build the agent with:

npm run build

Command line arguments

After building, you can override the agent default config via the usual methods provided by rc

This includes command-line parameters, so for example...

node dist/index.js --loglevel=debug --clustering.minNeighbours=10

... will launch with loglevel "debug" and clustering minNeighbours set to 10

The full configuration options are documented at ./src/config/types.ts and defaults are at ./src/config/defaults.ts

TODOS

• "Region of interest" using saveCornerPoints message could be useful; then send normalised coordinates from this agent
• "Background" removal
• Some proper unit tests for reducer, etc.