lidar_with_mirror

ミラー搭載LiDARの検証用プログラム

以下のブランチの引継ぎ
https://github.com/open-rdc/orne-box/tree/detect_low_obstacle

Install

Precondition:
Install ROS noetic (Ubuntu20.04/docker)
Install python3-catkin-tools

cd ~/catkin_ws/src
git clone -b noetic-devel https://github.com/open-rdc/lidar_with_mirror
wstool init
wstool merge lidar_with_mirror/lidar_with_mirror_pkgs.install
wstool up
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build
source ~/.bashrc

Execution

1. launch simulator

roslaunch lidar_with_mirror_bringup lidar_with_mirror_sim.launch

2. センサの姿勢の変更（動作確認用）

rosrun lidar_with_mirror demo_change_angle.py

関節配置

実行の様子

実験

check_estimate_posture.py　姿勢の推定 check_ground_height.py

experiment.py　を変更して，ロール方向もしくはピッチ方向にセンサを傾けるように変更

推定した姿勢の誤算の検証

roslaunch lidar_with_mirror_bringup lidar_with_mirror_sim.launch
rosrun lidar_with_mirror check_estimate_posture.py
rosrun lidar_with_mirror experiment.py

検出された地面の誤差の検証

roslaunch lidar_with_mirror_bringup lidar_with_mirror_sim.launch
rosrun lidar_with_mirror check_ground_height.py
rosrun lidar_with_mirror experiment.py

Install python3-catkin-tools

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install python3-catkin-tools