Description

See README.md

Defined Messages

Find Moving Objects Code API

A Node and Nodelet for Interpreting a LaserScan Data Stream

laserscan_interpreter.cpp defines a node and a nodelet which find objects in a sensor_msgs::LaserScan data stream and derive and report their positions and velocities in several ROS frames.

A Node and Nodelet for Interpreting a PointCloud2 Data Stream

pointcloud2_interpreter.cpp defines a node and a nodelet which find objects in a sensor_msgs::PointCloud2 data stream and derive and report their positions and velocities in several ROS frames.

A Confidence-Enhancing ROS Node

moving_objects_confidence_enhancer_node.cpp defines a node that tries to increase the confidence of objects which are seen by several sensors.

Example Bag File

There is a launch file that uses rosbag to play back a recording of the system when getting input from an Intel Realsense D435 depth camera (producing point clouds) and a Slamtec rplidar A2M8 (producing laser scans). Note that this bag file is compressed and must be extracted before the launch file can be used.

Example Launch File

There is a launch file that plays back the bag extracted bag file and runs the above interpreter node (for laser scans) and nodelet (for point clouds) to find moving objects. Rviz is used for visualization. The launch file can also be used for running a live system with the two given specific sensors.

Auxiliary Nodes Used when Playing Back the Example Bag

example_frame_broadcaster_node.cpp defines a node that broadcasts the relations between the different components and frames.
example_d435_voxel_echoer_node.cpp and example_rplidar_echoer_node.cpp define nodes that echo the played-back messages from the camera and LIDAR, respectively, with updated timestamps. This is to prevent the system from dropping the messages because they are too old (note that the actually played-back messages are dropped, but that the echoed messages are not).