lidar_cluster ROS 2 package

LIDAR pointcloud clustering in ROS 2 Humble

Build this ROS 2 package

In the following ~/ros2_ws is assumed as the ROS 2 workspace:

cd ~/ros2_ws/src

git clone https://github.com/jkk-research/lidar_cluster_ros2

cd ~/ros2_ws

Build either with:

colcon build --packages-select lidar_cluster --symlink-install

or with optimized build:

MAKEFLAGS="-j4" colcon build --packages-select lidar_cluster --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

[!TIP] There is a detailded decription how to make this package work with ground segmentation: jkk-research.github.io/workshops/clustering_a

ROS 2 graph

graph LR;

    p[ /input_points<br/>sensor_msgs::PointCloud2]:::white --> cluster([ /cluster_node]):::light
    tf[ /tf <br/>optional topic]:::dash -.-> cluster
    cluster --> f1[ /clustered_points<br/>sensor_msgs::PointCloud2]:::white
    cluster --> f2[ /clustered_marker<br/>visualization_msgs::MarkerArray]:::white
    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274
    classDef dash fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274, stroke-dasharray: 5 5
    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff

Cluster nodes

ros2 run lidar_cluster dblane_spatial

ros2 launch lidar_cluster dblane_spatial.launch.py

ros2 launch lidar_cluster dblane_f1s.launch.py topic:=/input_points

Remarks

In VS code it is advised to add the following to include path:

${workspaceFolder}/**
/opt/ros/humble/include/**
/usr/include/pcl-1.12/**
/usr/include/eigen3/**

If you are not sure where your header files are use e.g.:

File truncated at 100 lines see the full file