rplankenhorn's profile - activity

I am working with a robot that has multiple laser scanners near it's base (front, left, and right) and I was looking into using the Gmapping package to map or a room. Is it possible to use this package with multiple laser scanners? Also, once I map out the room, what is the best way to get the coordinate position of the robot in the map?

Would this work for really small objects? I kind of want to filter really small objects out and only react to bigger objects. (Objects less than 2cm wide.)

Has anyone ever done scan to scan object filtering/comparing? I want to use it to eliminate false positives.

Thanks again. If the fromMsg is deprecated, how do I convert the pcl::PointCloud back to a PointCloud2?

This looks like it could work. How do you suggest I implement it? I looked at the PCL page for ROS and the functions to convert from an ROS PointCloud to a PCL PointCloud and back are deprecated. Am I missing something?

I know that if the grass isn't cut it will look like a wall. I am talking about if the area has been freshly mowed and also on a windy day, the grass clippings are flying around in front of the laser. They appear as random small objects.

I am interfacing with a Sick LMS100 laser scanner and I am having problems filtering small objects (such as grass clippings). Are there any tools built into ROS that I could use to filter these objects out easily? If not, what would be the best method for filtering the objects out of the scans?

Alright I figured it out. I had GDB enabled for the module and it for some reason wasn't killing the threads. As soon as I disabled it in my launch file, the threads get killed when I Ctrl-C the program. Thanks for the suggestions.

I am have a couple of threads that run in a node. The threads have a while(ros::ok()) infinite loop inside. The problem is that when I Ctrl-C my program, it has to escalate to a SIGTERM because the ros::ok() variable never goes false. I also tried the ros::isShuttingDown() variable and this never goes true.

How should I handle the pthreads so that they exit when the rest of the program exits?

I launch threads with:

pthread_t thread1
pthread_create(&thread1,NULL,thread1Function,NULL);

My thread function looks something like this:

void *thread1Function(void *obj)
{
ros::Rate loop_rate(1);

while(ros::ok())
{
//Do stuff
loop_rate.sleep();
ros::spinOnce();
}

pthread_exit(NULL);
}

The loop never exits.