OpenPlanner - Utilities

op_bag_player

OpeGL based rosbag file player, it enable frame by frame playing, but only supports 3 types of topics (lidar data point cloud, current pose, image)

Outputs

publish topics for points_raw, ndt_pose, and image_raw

Options

• play data forward (space)
• pause (space)
• step forward by one frame (up button)
• step backwards by one frame (down button)
• exit (Esc button)

Requirements

1. rosbag path with /pose, /lidar and /image topics recorded

How to launch

• From a sourced terminal:

roslaunch op_utilities op_bag_player.launch

• From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Utilities -> op_bag_player

Parameters

• rosbag file path

Subscriptions/Publications

Publications: 
 * /points_raw [sensor_msgs::PointCloud2]
 * /ndt_pose [geometry_msgs::PoseStamped]
 * /image_raw [sensor_msgs::Image]

Subscriptions: 
 

op_pose2tf

This node recieve ndt_pose and publish current pose TF to the autoware system. so we don’t need to run ndt_matching again.

Outputs

pose TF

Requirements

1. ndt_pose topic is published

How to launch

• From a sourced terminal:

roslaunch op_utilities op_pose2tf.launch

• From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Utilities -> op_pose2tf

Parameters

• ndt_pose topic name

Changelog for package op_utilities

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)

  • Initial fixes to detection, sensing, semantics and utils

  • fixing wrong filename on install command

  • Fixes to install commands

  • Hokuyo fix name

  • Fix obj db

  • Obj db include fixes

  • End of final cleaning sweep

  • Incorrect command order in runtime manager

  • Param tempfile not required by runtime_manager

  • • Fixes to runtime manager install commands

  • Remove devel directory from catkin, if any

  • Updated launch files for robosense

  • Updated robosense

  • Fix/add missing install (#1977)

  • Added launch install to lidar_kf_contour_track

  • Added install to op_global_planner

  • Added install to way_planner

  • Added install to op_local_planner

  • Added install to op_simulation_package

  • Added install to op_utilities

  • Added install to sync

  • • Improved installation script for pointgrey packages

  • Fixed nodelet error for gmsl cameras

  • USe install space in catkin as well

  • add install to catkin

  • Fix install directives (#1990)

  • Fixed installation path

  • Fixed params installation path

  • Fixed cfg installation path

  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Fix Ros/ROS naming convention
• Contributors: Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

File truncated at 100 lines see the full file