LiDAR/LaserScan Processor

Basic ROS package for processing of LiDAR data consisting of two nodes, (1) for LaserScan data and (2) for PointCloud data.

1. LiDAR LaserScan data

• Subscribes to /scan and calculates 3D points from the distances and angles.
• Publishes output as PointCloud to /scan_pointcloud.

2. LiDAR PointCloud data

• Subscribes to /lidar/pointcloud and runs a simple callback function that downsamples the data with a VoxelGrid filter.
• Publishes output to /point_cloud_filtered.

Usage

1. Clone into your ROS workspace src directory

git clone git@github.com:casparvv/lidar_processor.git

2. Build the package from workspace

catkin_make

3. Source workspace

source devel/setup.bash

4. Run package

(1) LiDAR LaserScan data

rosrun lidar_processor laser_scan_processor.py

(2) LiDAR PointCloud data

rosrun lidar_processor lidar_processor

References

• https://wiki.ros.org/pcl/Tutorials
• https://pointclouds.org/documentation/
• https://pcl.readthedocs.io/en/latest/voxel_grid.html
• https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/LaserScan.html