slg_msgs

Overview

This package provides classes and messages to interact with laser related geometry, simple laser geometry.

simple_laser_geometry c++ API

• point2D.hpp: Faster 2D point class based on PCL but with unnecesary 3D functions.
• polygon.hpp: Definitions and functionality relating to polygons.
• segment2D.hpp: Definitions and functionality relating to segments of laserscan.

Messages (.msg)

• Segment: Describes a laserscan splitted in segment.
• SegmentArray: An array of Segment messages.

Installation

Binaries

On Ubuntu 24.04 you can install the latest version of this package using the following command

sudo apt-get update
sudo apt-get install ros-jazzy-slg-msgs

Building from Source

Dependencies

• Robot Operating System (ROS) 2 (middleware for robotics),

Building

To build from source, clone the latest version from the main repository into your colcon workspace and compile the package using

cd colcon_workspace/src
git clone https://github.com/ajtudela/slg_msgs.git -b jazzy
cd ../
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install

Changelog for package slg_msgs

3.9.2 (06-02-2025)

• First jazzy release.

3.9.1 (31-07-2024)

• Update to use modern CMake idioms.

3.9.0 (29-02-2024)

• Improve formatting.
• Added testing.

3.8.0 (25-04-2023)

• Prepare for humble release.

3.7.0 (13-01-2023)

• Added get_points function.
• Fix add point.

3.6.0 (11-01-2023)

• A polygon can be created from a vector of points.
• Added checks for closed polygon.

3.5.1 (15-11-2022)

• Fix install in CMakeLists.txt
• Fix slg_msgs in segment2D.hpp

3.5.0 (17-06-2022)

• Delete unused SegmentStamped message.
• Added implicit conversions.
• Update syntax.
• Remove old conversions.

3.2.1 (10-01-2022)

• Added copy constructor in segment2D.
• Fix some linter errors.

3.2.0 (10-01-2022)

• Added ability to create NaN point.

3.1.0 (16-12-2021)

• Added string enums.

3.0.0 (15-12-2021)

• Using slg namespace for Point2D, Segment2D and polygon.

2.1.0 (15-12-2021) ----------------* Adding conversion for polygon to geometry_msgs.

2.0.0 (13-12-2021)

• Rename internal message field to comply with ROS standard.

1.1.0 (13-12-2021)

• Adding conversion for Point2D to geometry_msgs.

1.0.3 (21-07-2021)

• Now using slg namespace.

1.0.2 (19-07-2021)

• Added segment2D to PCL conversion.

1.0.0 (16-07-2021)

• Initial release.
• Create README.md.
• Create CHANGELOG.rst.
• Create LICENSE.
• Added Point2D, Segment2D and Polygon classes.
• Added Segment.msg, SegmentStamped.msg and SegmentArray.msg messages.
• Added conversions (.h and .cpp files).
• Contributors: Alberto Tudela