pc_processor

Point Cloud Processing package (Tested on ROS noetic)

• This package is for Coordinate Transform using PointCloud2 data between camera and World Frame.
• You can change those topic name and Frame name whatever you want.
• Using the package with Isaac Sim
  • If you want to interact with Isaac Sim, must lauch the ROS Bridge Extension when you launch the simulation before.

1. Requirements

• Ubuntu 20.04 Focal
• ROS Noetic
• Dependencies

  sudo apt-get update
  sudo apt-get install ros-noetic-pcl-ros ros-noetic-tf ros-noetic-tf2-ros ros-noetic-cv-bridge ros-noetic-pcl-ros libopencv-dev python3-opencv

  • Or, you can also use rosdep
• Realsense D435i
  • Add info later...

2. Clone & Build

• Run the following commands in terminal
• If you don't have any workspaces to use this package...

  mkdir -p catkin_ws/src

• then,

  cd catkin_ws/src
  git clone https://github.com/ggonu/pc_processor.git

• build

  cd ..
  catkin_make

  source devel/setup.bash

3. Run the Node

!! Don't forget run roscore before run those nodes. !!

3-1. pc_processor

• After sourcing the setup.bash ...

  rosrun pc_processor pc_processor

• Subscribe (PointCloud2)

  /depth_cloud

• Publish (PointCloud2)

  /trans_depth_cloud

3-2. dbscan

Do not use this node. (2024-10-04)

• After sourcing the setup.bash ...

  rosrun pc_processor dbscan

• Subscribe (PointCloud2)

  /point_cloud

• Publish (PointCloud2, MarkerArray)

  /dbscan_clusters
  /dbscan_cluster_centroids

• For example, you can see MarkerArray that visualize the boundary of cluster.

3-3. merge_cloud

• After sourcing the setup.bash ...

  rosrun pc_processor merge_cloud

• Subscribe (PointCloud2)

  /point_cloud

• Publish (PointCloud2)

  /merged_cloud