这是一个多激光雷达点云基本处理的包,包含了去除地面、聚类、跟踪等功能。 multi_lidars_calibration-NDT为多激光雷达标定的功能包
git clone git@github.com:huashu996/lidar_fusion_ws.git --recursive
cd lidars_ws
catkin_make
source devel/setup.bash
cd ..
./all_launch.bash
HesaiLidar-ros功能包 —— 40线pandar驱动
ros_rslidar功能包 —— 16线RS驱动
roslaunch rslidar_pointcloud three_lidar.launch
<param name="left_lidar_topic" value="/ns2/rslidar_points" />
<param name="right_lidar_topic" value="/ns1/rslidar_points" />
<param name="pandar_lidar_topic" value="/ns3/pandar_points" />
TF坐标系 /tf
<param name="left_lidar_topic" value="/ns2/rslidar_points" />
<param name="right_lidar_topic" value="/ns1/rslidar_points" />
<param name="pandar_lidar_topic" value="/ns3/pandar_points" />
运用TF坐标系关系融合 /tf
<param name="fusion_topic" value="/fusion_rslidar_points" /> 融合的原始点云
<param name="fusion_topic" value="/regr_fusion_rslidar_points" />
启动
roslaunch lidar_fusion lidar_fusion.launch
<param name="sub_topic" value="/regr_fusion_rslidar_points"/>
<param name="pub_ground_topic" value="/pandar_points_ground"/>
<param name="pub_no_ground_topic" value="/pandar_points_no_ground"/>
roslaunch points_ground_filter points_ground_filter.launch
<param name="sub_topic" value="/pandar_points_no_ground"/>
<param name="pub_no_ground_topic" value="/fusion_points_no_ground"/>
roslaunch deal_point test.launch
<param name="sub_topic" value="/fusion_points_no_ground" />
<param name="pub_topic" value="/objects" />
roslaunch points_cluster points_cluster.launch
<param name="sub_topic" value="/objects"/>
<param name="pub_topic" value="/objects_tracked"/>
<param name="pub_topic_obstacle_array" value="/obstacles_array"/>
roslaunch multiple_target_tracking multiple_target_tracking.launch
<param name="sub_topic" value="/regr_fusion_rslidar_points"/>
<param name="pub_marker_topic" value="/feasible_region"/>
roslaunch points_freespace_extractor points_freespace_extractor.launch
./all_launch.bash 启动所有节点