Merge pull request #28 from jkk-research/ROS2

Updated run instructions and a new ROS 2 mcap sample file

Author: seungjae24

README.md

@@ -16,7 +16,7 @@ This is ROS package of Patchwork++ (@ IROS'22), which is a fast and robust groun
 * Demo launch file ([demo.launch][launchlink]) with sample rosbag file. You can execute Patchwork++ simply!
 
 [codelink]: https://github.com/url-kaist/patchwork-plusplus-ros/blob/master/include/patchworkpp/patchworkpp.hpp
-[launchlink]: https://github.com/url-kaist/patchwork-plusplus-ros/blob/master/launch/demo.launch
+[launchlink]: https://github.com/url-kaist/patchwork-plusplus-ros/blob/ROS2/launch/demo.launch.py
 
 ## :package: Prerequisite packages
 You may need to install ROS, PCL, Eigen, ...
@@ -31,17 +31,33 @@ $ colcon build --packages-select patchworkpp --symlink-install
 ```
 
 ## :runner: To run the demo codes
-There is a demo which executes Patchwork++ with sample rosbag file. You can download a sample file with the following command.
->  download Kitti dataset for ros2 [kittiRos2link]: https://github.com/umtclskn/ros2_kitti_publishers/tree/main
+There is a demo which executes Patchwork++ with sample rosbag2 (mcap) file. You can download a sample file with the following command.
+
+> [!TIP]
+> Download a sample dataset for ros2: [mcap file download [~540MB] ](https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/Eclwzn42FS9GunGay5LPq-EBA6U1dZseBFNDrr6P0MwB2w?download=1)
+
+
+<details>
+<summary> Don't forget to source before ROS commands.</summary>
+
+``` bash
+source ~/ros2_ws/install/setup.bash
+```
+</details>
 
 Then, you can run demo as follows.
 ```bash
 # Start Patchwork++
-$ ros2 launch patchworkpp demo.launch
+$ ros2 launch patchworkpp demo.launch.py  cloud_topic:=/lexus3/os_center/points cloud_frame:=lexus3/os_center_a_laser_data_frame
 # Start the bag file
-$ ros2 bag play kitti_00_sample.db3
+$ ros2 bag play ~/Downloads/lexus3-2024-04-05-gyor.mcap --loop
+# Start visualization
+$ ros2 launch patchworkpp rviz1.launch.py
 ```
 
+> [!WARNING]  
+> You may need to install mcap support for pre-iron ROS2: `sudo apt install ros-humble-rosbag2-storage-mcap`
+
 ## :pushpin: TODO List
 - [ ] Update additional demo codes processing data with .bin file format
 - [ ] Generalize point type in the source code

launch/demo.launch.py

@@ -15,16 +15,17 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        DeclareLaunchArgument('cloud_topic', default_value="/kitti/point_cloud"),
+        DeclareLaunchArgument('cloud_topic', default_value="/kitti/point_cloud", description="a pointcloud topic to process",),
+        DeclareLaunchArgument('cloud_frame', default_value="lexus3/os_center_a_laser_data_frame", description="a pointcloud topic to process",),
 
         Node(
             package='patchworkpp',
             executable='demo',
             name='ground_segmentation',
             output='screen',
             parameters=[
-                {'cloud_topic': '/points'}, # Input pointcloud
-                {'frame_id': 'laser_data_frame'},
+                {'cloud_topic': LaunchConfiguration("cloud_topic")}, # Input pointcloud
+                {'frame_id': LaunchConfiguration("cloud_frame")},
                 {'sensor_height': 1.88},
                 {'num_iter': 3},             # Number of iterations for ground plane estimation using PCA.
                 {'num_lpr': 20},             # Maximum number of points to be selected as lowest points representative.

rviz/rviz1.rviz

@@ -5,6 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /nonground1/Topic1
+        - /ground1/Topic1
         - /input1/Topic1
       Splitter Ratio: 0.5
     Tree Height: 419
@@ -130,9 +132,9 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 1681
+      Max Intensity: 1683
       Min Color: 0; 0; 0
-      Min Intensity: 3
+      Min Intensity: 4
       Name: input
       Position Transformer: XYZ
       Selectable: true
@@ -152,7 +154,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: lexus3/os_center_a
+    Fixed Frame: lexus3/os_center_a_laser_data_frame
     Frame Rate: 30
   Name: root
   Tools:
@@ -195,7 +197,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/ThirdPersonFollower
-      Distance: 103.528564453125
+      Distance: 52.79143142700195
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -210,10 +212,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4797971546649933
+      Pitch: 0.6147969961166382
       Target Frame: <Fixed Frame>
       Value: ThirdPersonFollower (rviz_default_plugins)
-      Yaw: 2.955385446548462
+      Yaw: 4.390388011932373
     Saved: ~
 Window Geometry:
   Displays:
@@ -231,5 +233,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1260
-  X: 434
-  Y: 97
+  X: 370
+  Y: 33