how to use this package

[ArtlyStyles]

Hi,

I have a robot with 2D hokuyo liDAR publishing /scan message. I would like to use the obstacle_extractor to detector circle segments. I have written a launch file as below. However, I did not see the topic obstacles_detector/Obstacles showed in "rostopic list". How can I run this node? Please note I do not need obstacle_tracker or scan_merge. Also, how can I display the obstacles in rviz?

<launch>
  <node name="obstacle_extractor" pkg="obstacle_detector" type="obstacle_extractor_node">
    <param name="active"               value="true"/>
    <param name="use_scan"             value="true"/>
    <param name="use_pcl"              value="false"/>
    <param name="use_split_and_merge"    value="true"/>
    <param name="circles_from_visibles"  value="true"/>
    <param name="discard_converted_segments" value="true"/>
    <param name="transform_coordinates"  value="true"/>
    <param name="min_group_points"     value="5"/>
    <param name="max_group_distance"   value="0.1"/>
    <param name="distance_proportion"  value="0.00628"/>
    <param name="max_split_distance"   value="0.2"/>
    <param name="max_merge_separation" value="0.2"/>
    <param name="max_merge_spread"     value="0.2"/>
    <param name="max_circle_radius"    value="0.6"/>
    <param name="radius_enlargement"   value="0.3"/>
    <param name="frame_id"             value="map"/>
  </node>
</launch>

[youliangtan]

Hi, I tried out this package and the result is quite acceptable. What edited the demo.launch launch file. What I did internally are: remove the rosbag node, change the lidar frame for static_transform_publisher, remove use_sim_time=true, and then use remap to map /scan topic to /front_scan topic. It works perfectly.

[chouweixin]

I have a robot with a 2D Hokuyo LiDAR publishing /scan message. I want to use it to detect the positions of obstacles. Can you please assist me?