easynav_pointcloud_stack

This stack is part of the Easy Navigation (EasyNav) project developed by the Intelligent Robotics Lab. It is composed of the pointcloud_maps_builder package and the pointcloud_maps_manager package (currently under construction).

The PointcloudMapsBuilderNode subscribes to point cloud sensor data, downsamples and fuses it, and republishes the processed data for mapping or further processing.

Parameters

Parameter Name	Type	Default	Description
sensor_topic	string	points	Topic to subscribe for point cloud input
downsample_resolution	double	1.0	Resolution to use when downsampling
perception_default_frame	string	map	Target frame for fusing point clouds

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Installation

Clone the repository into your ROS 2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/EasyNavigation/easynav_pointcloud_stack.git
cd ..
colcon build --packages-select easynav_pointcloud_maps_builder

Usage

Source your workspace:

source ~/ros2_ws/install/setup.bash

Run the lifecycle node:

ros2 run easynav_pointcloud_maps_builder pointcloud_maps_builder_node

Test

1. Create a parameter YAML file (e.g., params.yaml) with the following content:

pointcloud_maps_builder_node:
  ros__parameters:
    use_sim_time: true
    sensors: [map]
    downsample_resolution: 0.1
    perception_default_frame: map
    map:
      topic: map
      type: sensor_msgs/msg/PointCloud2
      group: points

2. Run the node using the parameter file with this command:

ros2 run easynav_pointcloud_maps_builder pointcloud_maps_builder_main \
--ros-args --params-file src/easynav_pointcloud_stack/params.yaml