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Code examples of Pointcloud Autonomous Navigation?

asked 2018-10-29 08:51:03 -0600

bsheffield gravatar image

I am currently using a VLP-16 device that produces Pointcloud data type messages. I have tried with no success to convert them to Laserscan for Autonomous Navigation (as that appears to be the popular choice) and would like to consider alternatives.

Where can I found existing robots with source code that navigate with simulation support and Pointcloud/Pointcloud2 data produced from LIDAR devices?

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answered 2018-10-29 10:04:08 -0600

bsheffield gravatar image

updated 2018-10-29 10:38:41 -0600

The answer I am coming up with is that 3D navigation is not currently supported on the ROS navigation stack.

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that navigation is not [..] supported on the ROS navigation stack


gvdhoorn gravatar image gvdhoorn  ( 2018-10-29 10:19:25 -0600 )edit

Yeah I missed an important word, 3D.

bsheffield gravatar image bsheffield  ( 2018-10-29 10:38:58 -0600 )edit

answered 2018-10-29 12:44:12 -0600

I'm not sure you'll find an open source implementation, but I can tell you from experience its been done dozens (if not hundreds) of times in academia and industry. If you're just looking for something to get started with, google cartographer has 3D support. You can use this to generate a map via SLAM and with different parameters localize within a map. This will get you to the "where am I" and "where is traversable" answers. Next is "how do I get from A to B" which you could very conceivably use navigation as a reference guide to.

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It's not 3D, but apparently "2.5D": locusrobotics/robot_navigation.

gvdhoorn gravatar image gvdhoorn  ( 2018-10-29 12:46:39 -0600 )edit

2.5D refers to orientation as theta (yaw) in 2D. It covers the same state as navigation. AFAIK theres no usecase with that stack for 3D-based components.

stevemacenski gravatar image stevemacenski  ( 2018-10-29 14:25:51 -0600 )edit

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Asked: 2018-10-29 08:51:03 -0600

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Last updated: Oct 29 '18