line_detection.md

Line Detection

Contents

• line_detection.launch
  • Node
  • Subscriptions
  • Publications
  • Services
  • Parameters: 入出力関連
  • Parameters: PCL関連

line_detection.launch

• 2D-LiDARセンサから得た点群から直線を検出します．
• パラメータファイル : line_detection_param.yaml．

# with rviz
$ roslaunch pcl_object_detection line_detection_param.launch
# without rviz
$ roslaunch pcl_object_detection line_detection_param.launch rviz:=false
# rqt_reconfigure-based parameter configuration
$ roslaunch pcl_object_detection line_detection_param.launch rqt_reconfigure:=true

Note

rqt_reconfigureはパラメータを動的に変更できるが，保存はできませんので，手打ちで更新してください．

Node

Node Name	Meaning
/line_detection/nodelet_manager	ノードレットの管理
/line_detection/line_detection	直線を検出する

Subscriptions:

Topic Name	Type	Meaning
/points2	sensor_msgs/PointCloud2	入力点群

Publications:

Topic Name	Type	Meaning
/line_detection/cloud_line	sensor_msgs/PointCloud2	検出直線の点群
/line_detection/line_info	pcl_object_detection/LineInfo	検出直線の情報
/line_detection/line_info_marker	visualization_msgs/Marker	検出直線の情報のマーカ表示

Services:

Service Name	Type	Meaning
/line_detection/run_ctr	sobit_common_msg/RunCtrl	検出のオンオフ
/line_detection/line_detection_service	pcl_object_detection/LineDetectionService	直線検出サービス

Parameters: 入出力関連

Parameter Name	Type	Meaning
scan_topic_name	string	/scan
base_frame_name	string	base_footprint
run_ctr	bool	True
publish_cloud_line	bool	True
publish_line_info	bool	True
publish_marker	bool	True

Parameters: PCL関連

Parameter Name	Type	Meaning
passthrough_y_min	double	-1.0
passthrough_y_max	double	1.0
threshold_distance	double	0.015
probability	double	0.95