add rosnode to integrate point clouds

[miyaguchigit]

まずは

メモ： fast_lioの設定ファイルはsenior_car_projectの中のものを読み込んでいる。

multiple_plane_detector_nodeのソースは？

[miyaguchigit]

https://github.com/miyaguchigit/ws_smobility_FY2023_2ndHalf/issues/108

基本的にはsrc/livox_to_pointcloud2を使う。

下記の方法もある。

livox_ros_driver/CustomMsgをsensor_msgs/PointCloud2に変換するにはlivox_ros_driverのlvx_to_rosbag_rviz.launchを使用する。 livox_ros_driver2/CustomMsgをlivox_ros_driver/CustomMsgに変換するには rosrun ros_node_template converter を使用する。

[miyaguchigit]

version: 7ec4f14a262e94a24d610a1691662c6fdbd3489b it works with livox_ros_driver2/CustomMsg

roslaunch fast_lio mapping_smobility.launch rosrun livox_to_pointcloud2 livox_to_pointcloud2_node roslaunch senior_car_project senior_car_main_preprocess.launch

rosbag play shizu_bag_20240510/2024-05-10-12-51-11.bag --topics /livox/lidar /livox/imu -r 1

[miyaguchigit]

user@user-Stealth-GS66-12UH:~/ws_smobility$ roslaunch senior_car_project senior_car_main_preprocess.launch
... logging to /home/user/.ros/log/4f65bc76-336c-11ef-927a-d9e6dce4e880/roslaunch-user-Stealth-GS66-12UH-933242.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://user-Stealth-GS66-12UH:40167/

SUMMARY
========

PARAMETERS
 * /buffer_size: 10
 * /leaf_size_x: 0.2
 * /leaf_size_y: 0.2
 * /leaf_size_z: 0.2
 * /max_distance_front_lidar: 50.0
 * /max_distance_left_lidar: 30.0
 * /max_distance_right_lidar: 30.0
 * /max_height_lidar: 2.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    preprocess_point_cloud_node (senior_car_project/preprocess_point_cloud_node)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[preprocess_point_cloud_node-1]: started with pid [933256]
process[rviz-2]: started with pid [933257]
preprocess_point_cloud_node_clas_constructor
[ INFO] [1719372620.909294510]: preprocess_point_cloud_node_init
preprocess_point_cloud_node_callback
[ WARN] [1719372660.892177017]: "odom" passed to lookupTransform argument target_frame does not exist.
preprocess_point_cloud_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = pcl::PointCloud<pcl::PointXYZI>; typename boost::detail::sp_dereference<T>::type = pcl::PointCloud<pcl::PointXYZI>&]: Assertion `px != 0' failed.
[preprocess_point_cloud_node-1] process has died [pid 933256, exit code -6, cmd /home/user/ws_smobility/devel/lib/senior_car_project/preprocess_point_cloud_node __name:=preprocess_point_cloud_node __log:=/home/user/.ros/log/4f65bc76-336c-11ef-927a-d9e6dce4e880/preprocess_point_cloud_node-1.log].
log file: /home/user/.ros/log/4f65bc76-336c-11ef-927a-d9e6dce4e880/preprocess_point_cloud_node-1*.log

[miyaguchigit]

do not forget:

int buffer_size = 20; // Number of point clouds frame to concatenate

[miyaguchigit]

debugging the following bug behavior (tfBuffer scope?)

[miyaguchigit]

pass through filter and voxel grid filter will be implemented using the version : 0391a38f234bb272908455b0caf1d3b0d6092adb

[miyaguchigit]

DO NOT forget the following parameter DO NOT use bla blanc parameter

pcl::PassThrough<pcl::PointXYZI> pass;
pass.setInputCloud(cloudPcl);
pass.setFilterFieldName("z");
pass.setFilterLimits(-2.0, max_height_lidar);  // tune this parameter
pass.filter(*cloudPcl);
pass.setFilterFieldName("x");
pass.setFilterLimits(0.1, max_distance_front_lidar);  // tune this parameter
pass.filter(*cloudPcl);
pass.setFilterFieldName("y");
pass.setFilterLimits(-max_distance_left_lidar, max_distance_right_lidar);  // tune this parameter
pass.filter(*cloudPcl);

[miyaguchigit]

the following parameters must be defined

min_height_lidar must be define

[miyaguchigit]

aaaaaaaaaaaaaaaaaaaa1111 rosparam settting go wrong

/multil_plane/max_distance_front_lidar: 6.0 /multil_plane/max_distance_left_lidar: 6.0 /multil_plane/max_distance_right_lidar: 6.0 /multil_plane/max_height_lidar: 2.0 /multil_plane/multi_frame_num: 20 /pcd_save/interval: -1 /pcd_save/pcd_save_en: false /pcd_save_enable: false /point_filter_num: 4 /preprocess/blind: 0.1 /preprocess/lidar_type: 1 /preprocess/scan_line: 6 /preprocess/scan_rate: 6 /preprocess/timestamp_unit: 2 /preprocess_point_cloud_param/enable_multi_frame: true /preprocess_point_cloud_param/leaf_size_x: 0.1 /preprocess_point_cloud_param/leaf_size_y: 0.1 /preprocess_point_cloud_param/leaf_size_z: 0.01 /preprocess_point_cloud_param/max_distance_front_lidar: 6.0 /preprocess_point_cloud_param/max_distance_left_lidar: 6.0 /preprocess_point_cloud_param/max_distance_right_lidar: 6.0 /preprocess_point_cloud_param/max_height_lidar: 2.0 /preprocess_point_cloud_param/multi_frame_num: 20

[miyaguchigit]

あれ？rosparamってpublic? or private ?

[miyaguchigit]

適切なのはprivate

[miyaguchigit]

rosparam読み込みでトラブるとは思わなかった。

[miyaguchigit]

version : a0d564aa7261aa11701d792958bd84781184307f

[miyaguchigit]

66997894c29dfd689e3da0a1912bdb045f4e3415

[miyaguchigit]

mainにマージしたが、mainの方がcatkin_wsと乖離が大きいためかビルドエラーが出る。 あとでcatkin_wsのmainと同期させて、その後でマージした方が良い。 →別issueとして、本issueはクローズ