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