複数レーザスキャンの統合と点群からの仮想スキャン生成ツール
ira_laser_tools: a ROS LaserScan manipulation toolbox
複数のレーザスキャナの計測を1つに統合したり、点群データから仮想のLaserScanメッセージを生成したりできるROSノードをオープンソースで公開した論文。
著者: Augusto Luis Ballardini, Simone Fontana, Axel Furlan, Domenico G. Sorrenti
分類: cs.RO
原文アブストラクト
Laser scanners are sensors of widespread use in robotic applications. Under the Robot Operating System (ROS) the information generated by laser scanners can be conveyed by either LaserScan messages or in the form of PointClouds. Many publicly available algorithms (mapping, localization, navigation, etc.) rely on LaserScan messages, yet a tool for handling multiple lasers, merging their measurements, or to generate generic LaserScan messages from PointClouds, is not available. This report describes two tools, in the form of ROS nodes, which we release as open source under the BSD license, which allow to either merge multiple single-plane laser scans or to generate virtual laser scans from a point cloud. A short tutorial, along with the main advantages and limitations of these tools are presented.
