heightmap.cpp File Reference

ROS class for detecting obstacles in a point cloud. More...

#include <velodyne_height_map/heightmap.h>

Include dependency graph for heightmap.cpp:

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Namespaces
namespace	velodyne_height_map
Defines
#define	MAX(x, y)   ((x) > (y) ? (x) : (y))
#define	MIN(x, y)   ((x) < (y) ? (x) : (y))

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Detailed Description

ROS class for detecting obstacles in a point cloud.

This class produces a point cloud containing all points that lie on an obstacle and are taller than the height_threshold parameter.

Subscribes:

• velodyne_points [sensor_msgs::PointCloud2] data from one revolution of the Velodyne LIDAR

Publishes:

• veloydne_obstacles [sensor_msgs::PointCloud2] grid cells that contain an obstacle

• veloydne_clear [sensor_msgs::PointCloud2] grid cells with no obstacles

Author:

David Claridge, Michael Quinlan

Definition in file heightmap.cpp.

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Define Documentation

#define MAX	(		x,
			y
	)		((x) > (y) ? (x) : (y))

Definition at line 38 of file heightmap.cpp.

#define MIN	(		x,
			y
	)		((x) < (y) ? (x) : (y))

Definition at line 37 of file heightmap.cpp.