search

GOFIRST-Robotics / NASA-RMC-2020-NorthstarRobotics

The NASA RMC 2020 repository for Northstar Robotics, a segment of University of Minnesota Robotics
https://docs.google.com/presentation/d/1eXhP5dbxtgWJBE492b78TFrnQFL9yoPsJFO4HszJn60/edit?usp=sharing
Other
3 stars 0 forks source link

Create or find node that merges pointcloud messages #49

Closed juliaschatz closed 4 years ago

juliaschatz commented 4 years ago

This should be pretty simple to write, unless it already exists somewhere? I couldn't find something like I wanted.

JWCS commented 4 years ago

So, I’m going to say something that is technically right, but prob not appropriate for what you’re trying to do. Pointcloud Registration through ICP are the buzzwords to do pointcloud merging. I also don’t think that’s what you want/need should do.

What’re you trying to do? Why do the msgs have to be combined? Where are they going?

juliaschatz commented 4 years ago

I don't think we want registration. What I want to do is to combine the two so that the pointcloud_to_laserscan node sees both of them. It's just occurred to me that we could combine the laserscan messages as well. But is it even necessary for them to be combined? Or can move_base use two laserscan topics?

JWCS commented 4 years ago

Ding ding ding! For each lidar/stereo ptcld, convert to lasers can, and feed to move base. (Might not even need to convert, I think move base should be fine with pointcloud inputs. It will handle the merging of each input msg). The receiving node always handles the merging data that it subscribed to.

On Mon, Mar 2, 2020 at 21:55 Julia Schatz notifications@github.com wrote:

I don't think we want registration. What I want to do is to combine the two so that the pointcloud_to_laserscan node sees both of them. It's just occurred to me that we could combine the laserscan messages as well. But is it even necessary for them to be combined? Or can move_base use two laserscan topics?

— You are receiving this because you commented.

Reply to this email directly, view it on GitHub https://github.com/GOFIRST-Robotics/NASA-RMC-2020-NorthstarRobotics/issues/49?email_source=notifications&email_token=ACPHOVLWNAUK73PWCOG33VDRFR5RXA5CNFSM4LAAI2VKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOENR7RFQ#issuecomment-593754262, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACPHOVKGNGP5VTA377VNRRLRFR5RXANCNFSM4LAAI2VA .