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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carla-simulator/ros-bridge.git |
| VCS Type | git |
| VCS Version | 0.9.6 |
| Last Updated | 2020-01-29 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The pcl_recorder package
Additional Links
No additional links.
Maintainers
- CARLA Simulator Team
Authors
No additional authors.
Point Cloud Map Creation
Create pointcloud maps for Carla Levels.
The point clouds are created by driving around with an ego vehicle, using the autopilot functionality within the Carla PythonAPI.
Setup
See setup of carla-ros-bridge.
Run
Execute the Carla Simulator and the Pcl-Recorder.
#Terminal 1
#execute Carla
SDL_VIDEODRIVER=offscreen <path-to-carla>/CarlaUE4.sh /Game/Carla/Maps/Town01 -benchmark -fps=20
#Terminal 2
#Execute the PCL Capturing
#The captured point clouds are saved to /tmp/pcl_capture directory.
export PYTHONPATH=<path-to-carla>/PythonAPI/carla/dist/carla-<version_and_arch>.egg:<path-to-carla>/PythonAPI/carla/
source <path-to-catkin-workspace>/devel/setup.bash
roslaunch pcl_recorder pcl_recorder.launch
When the capture drive is done, you can reduce the overall size of the point cloud.
#create one point cloud file
pcl_concatenate_points_pcd /tmp/pcl_capture/*.pcd
#filter duplicates
pcl_voxel_grid -leaf 0.1,0.1,0.1 output.pcd map.pcd
#verify the result
pcl_viewer map.pcd
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/pcl_recorder.launch
-
- host [default: localhost]
- port [default: 2000]
- role_name [default: ego_vehicle]
- host [default: $(arg host)]
- port [default: $(arg port)]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pcl_recorder at Robotics Stack Exchange
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