自动驾驶Autoware源码

Autoware's sick_ldmrs_laser Subtree ============================= This directory is part of a subtree fetched from https://github.com/CPFL/sick_ldmrs_laser on the **Autoware** branch, a fork from the original https://github.com/SICKAG/sick_ldmrs_laser This repo adds specific functions for Autoware. If you need to modify **any** file inside this folder structure, please use the following commands to either push or fetch changes from the subtree. All the commands written here will suppose you're in the root of Autoware path. ## Pulling in commits from the repository subtree Bring latest commits from https://github.com/CPFL/sick_ldmrs_laser `git subtree pull --prefix ros/src/sensing/drivers/lidar/packages/sick/ldmrs/sick_ldmrs_laser https://github.com/CPFL/sick_ldmrs_laser Autoware --squash` ## Pushing changes to the repository subtree If you made any modification to the subtree you are encouraged to commit and publish your changes to the fork. You can do with the following command. `git subtree push --prefix ros/src/sensing/drivers/lidar/packages/sick/ldmrs/sick_ldmrs_laser https://github.com/CPFL/sick_ldmrs_laser Autoware` **Original README below** sick_ldmrs_laser ================ [](https://travis-ci.org/SICKAG/sick_ldmrs_laser) This stack provides a ROS driver for the SICK LD-MRS series of laser scanners. The SICK LD-MRS is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments and also provides object tracking. The driver also works for the identical devices from IBEO.  Supported Hardware ------------------ This driver should work with all of the following products. However, it has only been tested and confirmed working on the LD-MRS800001S01 so far. If you try any of the other scanners and run into trouble, please open an issue. | **device name** | **identical to** | **part no.** | **description** | **tested?** | |--------------------|-------------------|-----------------------------------------------------------------------------|------------------------------------------------|:-----------:| | LD-MRS400001 | | [1045046](https://www.mysick.com/eCatSEO.aspx?go=DataSheet&ProductID=34057) | 4 layer (standard) | ✔ | | LD-MRS400001S01 | IBEO LUX Standard | [1052960](https://www.mysick.com/eCatSEO.aspx?go=DataSheet&ProductID=55876) | 4 layer (standard, includes object tracking) | ✔ | | LD-MRS400102 HD | | [1047145](https://www.mysick.com/eCatSEO.aspx?go=DataSheet&ProductID=34058) | 4 layer (heavy duty) | ✔ | | LD-MRS400102S01 HD | IBEO LUX HD | [1052961](https://www.mysick.com/eCatSEO.aspx?go=DataSheet&ProductID=55877) | 4 layer (heavy duty, includes object tracking) | | | LD-MRS800001S01 | IBEO LUX 8L | [1069408](https://www.mysick.com/eCatSEO.aspx?go=DataSheet&ProductID=96894) | 8 layer (standard) | ✔ | Installation ------------ In the following instructions, replace `<rosdistro>` with the name of your ROS distro (e.g., `indigo`). ### From binaries The driver has not been released yet. But once that happens, you can install it directly by typing: ~~`sudo apt-get install ros-<rosdistro>-sick-ldmrs-laser`~~ ### From source ```bash source /opt/ros/<rosdistro>/setup.bash mkdir -p ~/ros_catkin_ws/src/ cd ~/ros_catkin_ws/src/ git clone https://github.com/SICKAG/libsick_ldmrs.git git clone -b <rosdistro> https://github.com/SICKAG/sick_ldmrs_laser.git cd .. catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release source ~/ros_catkin_ws/install_isolated/setup.bash ``` Quick Start ----------- ```bash roslaunch sick_ldmrs_tools sick_ldmrs_demo.launch rosrun rviz rviz -d $(rospack find sick_ldmrs_tools)/config/sick_ldmrs.rviz rosrun rqt_reconfigure rqt_reconfigure rosrun rqt_robot_monitor rqt_robot_monitor ``` Package overview ---------------- * **sick_ldmrs_driver**: This package provides the main driver node, `sick_ldmrs_node`. * **sick_ldmrs_description**: This package provides an URDF description of the scanner along with the corresponding mesh. * **sick_ldmrs_msgs**: This package provides ROS message definitions for the scanner's object tracking functionality and a PCL point type used in the PointCloud2 topic. * **sick_ldmrs_tools**: This package provides example nodes that demonstrate how to subscribe to the topics provided by the scanner and use the data: - `sick_ldmrs_filter_first`: Filters the point cloud and only output the first echo of each beam. - `sick_ldmrs_filter_last`: Filters the point cloud and only output the last echo of each beam. - `sick_ldmrs_filter_layer`: Filters the point cloud and only output points from the second layer. - `sick_ldmrs_object_marker`: Subscribes to the `objects` topic and publishes the object tracking information as [visualization\_msgs/MarkerArray](http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html) for visualization in RViz. - `sick_ldmrs_all_layer_assembler`: Subscribes to the point cloud, transforms it into a fixed frame and assembles one point clouds of the lower four layers and one of the upper four layers into a point cloud of all eight layers. - `sick_ldmrs_make_organized`: Subscribes to the point cloud and turns it into an [organized point cloud](http://pointclouds.org/documentation/tutorials/basic_structures.php). - `sick_ldmrs_remove_background`: Removes static background points from an organized input point cloud, assuming the scanner is stationary. - `sick_ldmrs_print_resolution`: Subscribes to the point cloud and prints the angular resolution sectors. Useful to verify that the FocusedRes / FlexRes features are working as expected. ROS API ------- ### sick\_ldmrs\_node #### Published Topics `cloud` ([sensor\_msgs/PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html)) - The published point cloud. The meaning of the fields is documented in [sick_ldmrs_point_type.h](sick_ldmrs_msgs/include/sick_ldmrs_msgs/sick_ldmrs_point_type.h). `objects` (sick_ldmrs_msgs/ObjectArray) - The output of the object tracking functionality of the scanner. See [ObjectArray.msg](sick_ldmrs_msgs/msg/ObjectArray.msg) and [Object.msg](sick_ldmrs_msgs/msg/Object.msg). `diagnostics` ([diagnostic\_msgs/DiagnosticArray](http://docs.ros.org/api/diagnostic_msgs/html/msg/DiagnosticArray.html)) - ROS [diagnostics](http://wiki.ros.org/diagnostics) information. #### Parameters ##### Dynamically Reconfigurable Parameters See the [dynamic\_reconfigure](http://wiki.ros.org/dynamic_reconfigure) package for details on dynamically reconfigurable parameters. `~frame_id` (`str`, default: ldmrs) - The TF frame in which point clouds will be returned. `~start_angle` (`double`, default: 0.872664625997) - The angle of the first range measurement \[rad\]. Range: -1.04610672041 to 0.872664625997 `~end_angle` (`double`, default: -1.0471975512) - The angle of the last range measurement \[rad\]. Range: -1.0471975512 to 0.871573795215 `~scan_frequency` (`int`, default: 0) - Scan frequency. Possible values are: ScanFreq1250 (0): Scan frequency 12.5 Hz, ScanFreq2500 (1): Scan frequency 25.0 Hz, ScanFreq5000 (2): Scan frequency 50.0 Hz. `~sync_angle_offset` (`double`, default: 0.0) - Angle under which the LD-MRS measures at the time of the sync pulse \[rad\]. Range: -3.14159265359 to 3.1410472382 `~angular_resolution_type` (`int`, default: 1) - Angular resolution type. Possible values are: FocusedRes (0): Focused resolution, ConstantRes (1): Constant resolution (0.25° @ 12.5 Hz / 0.25° @ 25.0 Hz /