README.md

lidar_sdv

lidar algorithms to detect and stop the car

Install To ise this repo and the lidar functions

sudo apt-get install libeigen3-dev
sudo apt install libpcl-dev
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-xacro
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt-get install ros-humble-pcl-ros
sudo apt install ros-humble-vision-msgs

Set up ROS2

cd ~/ros2_ws
source /opt/ros/foxy/setup.bash #for ros2 foxy
source /opt/ros/humble/setup.bash #for ro2 humble
source install/setup.bash

ROS BAGs EXAMPLES

ros2 bag play /home/genis/ros_bags/vanttec2/rosbag2_2023_03_23-23_34_21_0.db3
ros2 bag play /home/genis/ros_bags/vantec//rosbag2_2023_05_23-18_50_43_0.db3

1. Model description

colcon build --packages-select niagara_model
source install/setup.bash
ros2 launch sdv_robot_description display.launch.py

2. Ground LIDAR

colcon build --packages-select lidar_ground_getter
source install/setup.bash
ros2 launch lidar_ground_getter lidar_ground.launch.py

3. Voxel and RIO Lidar 3D

colcon build --packages-select voxel_grid_filter
source install/setup.bash
ros2 launch voxel_grid_filter filter.launch.py

4. Lidar 3D clusterings

colcon build --packages-select lidar3d_clustering
source install/setup.bash
ros2 launch lidar3d_clustering lidar3d.launch.py

Optimus variables

lidar3d_Clustering_node:
 ros__parameters:
   GROUND_THRESHOLD: 0.03
   CLUSTER_THRESH: 0.18
   CLUSTER_MAX_SIZE: 5000
   CLUSTER_MIN_SIZE: 10
   USE_PCA_BOX: 0
   DISPLACEMENT_THRESH: 1.0
   IOU_THRESH: 1.1
   USE_TRACKING: 1

Topics descriptions

topics	description	Type	Origin pkg
/points_roi	receives the points from the /velodyne points topic and creates a region of interest.	PointCloud2	voxel_grid_filter
/points_ground	It receives the points from the region of interest from the /points_roi topic and removes the points from the floor to only leave the objects.	PointCloud2	lidar_ground_getter
/object_bounding_box	the bounding box of the object	MarkerArray	lidar3d_clustering
/warning_visualization_tool	Warning display tool to visually discover if the object is far away or close.	Marker	lidar3d_clustering
/visualization_zone	visualization tool to observe risk areas.	MarkerArray	lidar3d_clustering
/warning_status	int topic to warn by numbers if an object is closed or away.	Int32	lidar3d_clustering

warning_status topic descriptions

# Int32	description
1	[WARNING 220] Obstacle detected in red zone.
2	[WARNING 330] Obstacle detected in yellow zone.
4	[INFO 000] No obstacle detected in any zone.

In the lab computer

ros2 bag play /home/rola/ros2/ros_bags/vanttec_2/rosbag2_2023_05_23-18_50_43_0-001.db3
ros2 bag play /home/genis-rog/ros2/ros_bags/new_vanttec/rosbag2_2024_03_08-22_50_21/rosbag2_2024_03_08-22_50_21_0.db3 --topics /velodyne_points