pcl_detection

Usage

Detect planes for mobile manipulator

[NOTE] Assuming pmb2_ar4_ros is installed

• start mob-man

ros2 launch pmb2_ar4_gazebo pmb2_ar4_gazebo.launch.py is_public_sim:=True navigation:=True moveit:=True

• process point cloud, detect planes and publish them

ros2 run pcl_detection perceive_surfaces

Save pointcloud (offline)

• launch realsense node

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true

• save pointcloud

ros2 run pcl_detection save_data

View pointcloud

• with pcl_viewer

pcl_viever path/to/filename.pcd

Notes

• to work with realsense, an initial passthrough filtering needs to be done, to cut off all the far-away points

Installation

• Point Cloud Library (PCL)

sudo apt install libpcl-dev

• (optional) for pcl_viewer install pcl_tools

sudo apt-get install pcl-tools

• ROS 2 dependencies for PCL

sudo apt-get install ros-humble-pcl-ros
sudo apt-get install ros-humble-pcl-conversions
sudo apt-get install ros-humble-pcl-msgs

• ROS 2 dependencies for Intel RealSense

# install Intel RealSense SDK
sudo apt install ros-humble-librealsense2*

# install Intel RealSense ROS 2 wrapper
sudo apt install ros-humble-realsense2-*