ros2_laser_geometry

Description

This package contains a class for converting from a 2D laser scan as defined by sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud or sensor_msgs/PointCloud2. In particular, it contains functionality to account for the skew resulting from moving robots or tilting laser scanners.

Software Architecture

Software architecture description

The laser_geometry package contains a single C++ class: LaserProjection. There is no ROS API. This class has two relevant functions for transforming from sensor_msgs/LaserScan to sensor_msgs/PointCloud or sensor_msgs/PointCloud2.

input:

├── CHANGELOG.rst
├── CMakeLists.txt
├── LICENSE
├── include
│   └── laser_geometry
│       ├── laser_geometry.hpp
│       └── visibility_control.hpp
├── package.xml
├── setup.py
├── src
│   ├── laser_geometry
│   │   ├── __init__.py
│   │   └── laser_geometry.py
│   └── laser_geometry.cpp
└── test
    ├── projection_test.cpp
    └── projection_test.py

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/laser_geometry/ros-foxy-ros-laser_geometry-2.2.0-2.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/laser_geometry/ros-foxy-ros-laser_geometry-2.2.0-2.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-laser_geometry-2.2.0-2.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-laser_geometry-2.2.0-2.oe2203.x86_64.rpm

Instructions

Dependence installation:

sh /opt/ros/foxy/install_dependence.sh

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

./
|-- COLCON_IGNORE
|-- _local_setup_util_ps1.py
|-- _local_setup_util_sh.py
|-- bin
|-- cmake
|-- include
|-- lib
|-- lib64
|-- local_setup.bash
|-- local_setup.ps1
|-- local_setup.sh
|-- local_setup.zsh
|-- setup.bash
|-- setup.ps1
|-- setup.sh
|-- setup.zsh
|-- share
`-- src

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

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