twoLevelMTTD_stack: MTTDMeasurementSimulator | MTTD_background_subtraction | MTTD_interface | MTTD_msgs | MTTD_simulation | MTTD_visualize | RBBM | background | dataAssociationMurty | linearAssignmentProblem | readGitData | readLaserScannerMeasurementsFile | separateEnvironmentFromLaserScan | srl_people_tracker_0.2 | twoLevelMTTD | twoLevelMTTDExamples
Package Summary
This package is used in MTTD_interface for preprocessing laser measurements. It extracts non-environment measurements.
- Author: Enea Scioni enea.scioni@student.unife.it
- License: LGPL
- Repository: kul-ros-pkg
- Source: svn http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/twoLevelMTTD_stack/MTTD_background_subtraction
Contents
Overview
Laser Scanner measurements (or a rangefinder sensor) require to be pre-processed before to be analized by the twoLevelMTTD. The algorithm will elaborate only non-environment measurements (people or object in movement), so separate environment and non-environment measurements is necessary. This package provide background node which is responsabile of this operation: if an pre-builted environment map is avaiable by map_server, laser measurements will be compared with the environment and only non-environment measurement will be used. The output is a sensor_msgs/PointCloud referred to a target_frame ("/map" as default).
Nodes
background
Subscribed Topics
/base_scan (sensor_msgs/LaserScan)- Data received from the 2D laser scanner.
Published Topics
/MTTDI1/object_point_cloud (sensor_msgs/PointCloud)- Non-environment measurements in PointCloud
Services
static_map (nav_msgs/GetMap)- Service required avaiable by map_server node.
Parameters
~target_frame_id (string, default: "/map")- The name of the PointCloud output frame.
- The name of the laser scanner frame.