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Fix/ros2 build param issues #1

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Nov 13, 2023
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1 change: 0 additions & 1 deletion README.md
Original file line number Diff line number Diff line change
@@ -63,5 +63,4 @@ The default parameters should work on the KITTI dataset.
### Other

- **n_threads** Number of threads to use.
- **latch** Latch output point clouds in ROS node.
- **visualize** Visualize the segmentation result. **ONLY FOR DEBUGGING.** Do not set true during online operation.
Original file line number Diff line number Diff line change
@@ -55,6 +55,12 @@ struct GroundSegmentationParams {
double line_search_angle;
// Number of threads.
int n_threads;
// Minimum point distance.
double r_min;
// Maximum point distance.
double r_max;
// Maximum error of a point during line fit.
double max_fit_error;
};

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
Original file line number Diff line number Diff line change
@@ -20,7 +20,6 @@ ground_segmentation:

gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.)

latch: false # latch output topics or not
visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING

input_topic: "livox/lidar/pointcloud"
Original file line number Diff line number Diff line change
@@ -4,7 +4,7 @@
#include <pcl/common/transforms.h>
#include <pcl/io/ply_io.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/point_cloud.h>
// #include <pcl_ros/point_cloud.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
@@ -52,6 +52,10 @@ SegmentationNode::SegmentationNode(const rclcpp::NodeOptions &node_options)
params_.line_search_angle =
this->declare_parameter("line_search_angle", params_.line_search_angle);
params_.n_threads = this->declare_parameter("n_threads", params_.n_threads);
params_.r_min = this->declare_parameter("r_min", params_.r_min);
params_.r_max = this->declare_parameter("r_max", params_.r_max);
params_.max_fit_error =
this->declare_parameter("max_fit_error", params_.max_fit_error);
// Params that need to be squared.
double r_min, r_max, max_fit_error;
if (this->get_parameter("r_min", r_min)) {
@@ -81,6 +85,8 @@ SegmentationNode::SegmentationNode(const rclcpp::NodeOptions &node_options)
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
RCLCPP_INFO(this->get_logger(), "Segmentation node initialized");
RCLCPP_INFO(this->get_logger(), "params_.r_min_square: %f",
params_.r_min_square);
}

void SegmentationNode::scanCallback(
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#include <pcl/io/ply_io.h>
#include <pcl_ros/point_cloud.h>
// #include <pcl_ros/point_cloud.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

@@ -34,6 +34,10 @@ int main(int argc, char **argv) {
params.line_search_angle =
node->declare_parameter("line_search_angle", params.line_search_angle);
params.n_threads = node->declare_parameter("n_threads", params.n_threads);
params.r_min = node->declare_parameter("r_min", params.r_min);
params.r_max = node->declare_parameter("r_max", params.r_max);
params.max_fit_error =
node->declare_parameter("max_fit_error", params.max_fit_error);
// Params that need to be squared.
double r_min, r_max, max_fit_error;
if (node->get_parameter("r_min", r_min)) {