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[hokuyo_estimation] Estimation of tree position and diameter from 2D lidar scan #616

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[hokuyo_estimation] Estimation of tree position and diameter from 2D lidar scan #616

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HarukiKozukapenguin
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@HarukiKozukapenguin HarukiKozukapenguin commented Jun 8, 2024 •
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What is this

estimation of cilinder objects' position and diameter by 2D lider sensor data
This PR is based on https://github.com/JSKAerialRobot/jsk_uav_forest

Details

  • get 2D scan data by /scan topic
  • estimate cilinder objects' position and diameter and publish by /visualization_marker
  • In the case of real_hardware, launch the urg_node to get scan data from sensors
  • visualization: scan data and estimation of the tree can be seen by rviz like Videos

TODO

To use this package in each robot, you need this setting.

  • (sim) write scan configuration in based on this PR
  • (real) 2d scan ip address configuration to use urg_node

Videos

https://drive.google.com/file/d/1HFtmVjGw6CDE9nATP38LeREJH6VpX-g8/view?resourcekey

@HarukiKozukapenguin
[hokuyo_estimation][build] init commit and evaluate by building code
7b9b95a
@HarukiKozukapenguin
[hokuyo_estimation] add odom subscriber
9f8dd65
@HarukiKozukapenguin
[hokuyo_estimation] add robot_ns in lanch file
d205d7b
@HarukiKozukapenguin
[hokuyo_estimation] rename odom to match to jsk_aerial_robot
12dc417
@HarukiKozukapenguin
[hokuyo_estimation] delete prev_vote calculation
1683278
@HarukiKozukapenguin
[WIP][hokuyo_estimation][build ok] add filter system
77f6d71
@HarukiKozukapenguin
[hokuyo_estimation] change include path from jsk_uav_forest_perceptio…
d69280f 
…n to hokuyo_estimation
@HarukiKozukapenguin
[WIP][hokuyo_estimation][launch OK] add filter package to inclde filt…
1c0f43a 
…er package in build and exec
@HarukiKozukapenguin
[hokuyo_estimation] rename subscribing laser topic name of tree_track…
9dcb827 
…ing_node from scan to scan_clustered to get filtered scan data
@HarukiKozukapenguin
[hokuyo_estimation] add change config file to notice in different obs…
8e9aea0 
…tacles
@HarukiKozukapenguin
[hokuyo_estimation] show rviz data
f45ad0c
@HarukiKozukapenguin
[hokuyo_estimation] show result of the tree
b189eff
@HarukiKozukapenguin
[hokuyo_estimation] add odom data
13c0327
@HarukiKozukapenguin
[hokuyo_estimation] show odom and tree data
2323214
@HarukiKozukapenguin
[hokuyo_estimation] fix position of rviz
57c5056
@HarukiKozukapenguin
[hokuyo_estimation] change to easy to watch lider output
30560ee
@HarukiKozukapenguin
[hokuyo_estimation][LaserShadowFilter][gain tuning] percept close obs…
fbe2e65 
…tacle to quadrotor
@HarukiKozukapenguin
[hokuyo_estimation][from rosbag data] change LaserShadowFilter param …
dc9d177 
…& tree_circle_regulation_thre to fit from rosbag data
@HarukiKozukapenguin
[hokuyo_estimation] make visualize launch file to check estimation in…
ca9c893 
… real experiment
@HarukiKozukapenguin
[hokuyo_estimation] bringup hokuyo_estimation from bringup.launch in …
0f947b1 
…agile_multirotor
@HarukiKozukapenguin
[hokuyo_estimation] comment out ROS_INFO for this is already debugged
6a8ce37
@HarukiKozukapenguin
[hokuyo_estimation][debug] able to scan in hokuyo_sensor
5f64d2a
@HarukiKozukapenguin
[hokuyo_estimation] show tree_info easily for real experiment
fe76e17
@HarukiKozukapenguin
[hokuyo_estimation] add laser_filters and filters in components
bb59ee2
@HarukiKozukapenguin
[hokuyo_estimation] not overwritten CMAKE_CXX_FLAGS
6fb91b9
@HarukiKozukapenguin
[hokuyo_estimation] add CATKIN_DEPENDS from github action
eb55ed5
@HarukiKozukapenguin
[hokuyo_estimation] install plugin file in CmakeLists
77e552d
@HarukiKozukapenguin
[hokuyo_estimation] delete tree_tracking in LIBRARIES variable for th…
128eb40 
…is is made in their build
@HarukiKozukapenguin
[hokuyo_estimation] rename package name from hokuyo_estimation to tre…
269841d 
…e_tracking for this is sutable for express my PR
@HarukiKozukapenguin
[hokuyo_estimation] rename tree_tracking include dir
aceeba8
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@HarukiKozukapenguin