Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.

文件	最后提交记录	最后更新时间
README.en.md	Fix: fix	3 年前
README.md	Fix: fix	3 年前
laser-filters.spec	Init: ros noetic for laser_filters	2 年前
laser_filters.yaml	Init: init	5 年前
ros-noetic-laser-filters_1.9.0.orig.tar.gz	Init: ros noetic for laser_filters	2 年前

laser_filters

介绍

laser_filters设计用于在使用 sensor_msgs/LaserScan 类型的 2D 平面激光扫描仪上运行的各种过滤器

软件架构

软件架构说明

laser_filters包含以下方法：

Laser_filters包的主要内容是一些用于处理sensor_msgs/LaserScan消息的通用过滤器。这些过滤器作为插件导出，旨在与过滤器包一起使用。目前所有这些过滤器都直接在sensor_msgs/LaserScan上运行，但将来可能会添加过滤器来处理sensor_msgs/PointCloud。请查看过滤器文档以了解过滤器和过滤器链的工作原理。

这个包提供了两个可以在内部运行多个过滤器的节点。使用这些节点来运行过滤器被认为是最佳实践，因为它允许多个节点使用输出，同时只执行一次过滤计算。节点是给定类型的过滤器链周围的最小包装器。该scan_to_scan_filter_chain应用一系列的过滤器，以一个sensor_msgs /激光扫描。所述scan_to_cloud_filter_chain第一施加一系列的过滤器，以一个sensor_msgs /激光扫描，变换成一sensor_msgs /点云，然后应用一系列的过滤器到sensor_msgs /点云。

文件内容:

laser_filters/
├── cfg
│   ├── IntensityFilter.cfg
│   ├── PolygonFilter.cfg
│   ├── ScanShadowsFilter.cfg
│   └── SpeckleFilter.cfg
├── CHANGELOG.rst
├── CMakeLists.txt
├── doc
│   └── node_organization.svg
├── examples
│   ├── box_filter_example.launch
│   ├── box_filter.yaml
│   ├── footprint_filter_example.launch
│   ├── footprint_filter_example.yaml
│   ├── intensity_filter_example.launch
│   ├── intensity_filter_example.yaml
│   ├── mask_filter_example.launch
│   ├── mask_filter_example.yaml
│   ├── median_filter_5_example.launch
│   ├── median_filter_5_example.yaml
│   ├── multiple_filters_example.launch
│   ├── multiple_filters_example.yaml
│   ├── pass_through_example.launch
│   ├── pass_through_example.xml
│   ├── point_cloud_footprint_filter_example.yaml
│   ├── polygon_filter_example.launch
│   ├── polygon_filter.yaml
│   ├── range_filter_example.launch
│   ├── range_filter.yaml
│   ├── shadow_filter_example.launch
│   ├── shadow_filter_example.yaml
│   ├── speckle_filter_example.launch
│   └── speckle_filter_example.yaml
├── include
│   └── laser_filters
├── laser_filters_plugins.xml
├── mainpage.dox
├── package.xml
├── src
│   ├── array_filter.cpp
│   ├── box_filter.cpp
│   ├── generic_laser_filter_node.cpp
│   ├── intensity_filter.cpp
│   ├── laser_scan_filters.cpp
│   ├── median_filter.cpp
│   ├── pointcloud_filters.cpp
│   ├── polygon_filter.cpp
│   ├── scan_to_cloud_filter_chain.cpp
│   ├── scan_to_scan_filter_chain.cpp
│   └── speckle_filter.cpp
└── test
    ├── fake_laser.py
    ├── test_polygon_filter
    ├── test_polygon_filter.launch
    ├── test_polygon_filter.yaml
    ├── test_scan_filter_chain.cpp
    ├── test_scan_filter_chain.launch
    ├── test_scan_filter_chain.yaml
    ├── test_shadow_detector.cpp
    ├── test_speckle_filter
    ├── test_speckle_filter_distance.yaml
    ├── test_speckle_filter_euclidean.yaml
    └── test_speckle_filter.launch

安装教程

下载rpm包

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-laser_filters/ros-noetic-ros-laser_filters-1.8.11-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-laser_filters/ros-noetic-ros-laser_filters-1.8.11-1.oe2203.x86_64.rpm

安装rpm包

aarch64:

sudo rpm -ivh ros-noetic-ros-laser_filters-1.8.11-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-laser_filters-1.8.11-1.oe2203.x86_64.rpm --nodeps --force

使用说明

依赖环境安装:

sh /opt/ros/noetic/install_dependence.sh

安装完成以后，在/opt/ros/noetic/目录下有如下输出,则表示安装成功

输出:

laser_filters/
├── cmake.lock
├── env.sh
├── include
│   └── laser_filters
├── lib
│   ├── laser_filters
│   ├── liblaser_scan_filters.so
│   ├── libpointcloud_filters.so
│   ├── pkgconfig
│   └── python2.7
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── laser_filters