- perception pipeline for multiple LIDAR streams. Currently the package is ocnfigured for 4 Ouster-128 sensors
- Bounding box, OctreeGrid and VoxelGrid fiters are implemented.
- Output can either be saved to *.pcd files or streamed with ROS messages.
- Current test setup achieved 20hz resolution with 100-150ms. Highly depended on the host system.
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check these services are running, if not start. sudo systemctl restart ptp4l sudo systemctl restart phc2sys
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Start roscore roscore
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Run ouster lidar client for ROS cd ~/dev/catkinws-ouster/ source devel_release/setup.bash roslaunch ouster_ros ouster-quad.launch
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Run perception pipeline cd ~/dev/perceptionws/ source devel_release/setup.bash roslaunch perception_pipeline perception_pipeline.launch
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Run Rviz to visualize rviz -d ~/dev/perception_ws/src/perception_pipeline/config/rvizconfig.rviz
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After closing the nodes makes sure to stop the roscore and restart it again as well.