pointcloud_to_laserscan源码改动,实现激光雷达前部识别

最新推荐文章于 2024-08-08 08:31:22 发布

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最新推荐文章于 2024-08-08 08:31:22 发布

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分类专栏： ros

本文链接：https://blog.csdn.net/qq_45281711/article/details/108238328

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在这里插入图片描述
由于激光雷达的0点在接口处,源码的范围为[-3.1416-3.1416]逆时针,且angular_max必须大于angular_min,故修改源码

pointcloud_to_laserscan_nodelet.cpp

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/*
 * Author: Paul Bovbel
 */

#include <limits>
#include <pluginlib/class_list_macros.h>
#include <pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <string>
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>

namespace pointcloud_to_laserscan
{
   
PointCloudToLaserScanNodelet::PointCloudToLaserScanNodelet()
{
   
}

void PointCloudToLaserScanNodelet::onInit()
{
   
  boost::mutex::scoped_lock lock(connect_mutex_);
  private_nh_ = getPrivateNodeHandle();

  private_nh_.param<std::string>("target_frame", target_frame_, "");
  private_nh_.param<double>("transform_tolerance", tolerance_, 0.01);
  private_nh_.param<double>("min_height", min_height_, std::numeric_limits<double>::min());
  private_nh_.param<double>("max_height", max_height_, std::numeric_limits<double>::max());

  private_nh_.param<double>("angle_min", angle_min_, -M_PI);
  private_nh_.param<double>("angle_max", angle_max_, M_PI);
  private_nh_.param<double>("angle_increment", angle_increment_, M_PI / 180.0);
  private_nh_.param<double>("scan_time", scan_time_, 1.0</