Merge pull request #3 from carologistics/sam/add-laser-lines

Sam/add laser lines

Author: techtasie

.gitignore

@@ -1,5 +1,6 @@
 devel/
 logs/
+install/
 build/
 bin/
 lib/
@@ -49,3 +50,4 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+.vscode/

LaserIntegration.png

@@ -0,0 +1,179 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1/Frames1
+        - /Marker1/Topic1
+        - /Marker2
+        - /Marker2/Topic1
+      Splitter Ratio: 0.7823529243469238
+    Tree Height: 707
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: false
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 20
+        Durability Policy: Volatile
+        Filter size: 23
+        History Policy: Keep All
+        Reliability Policy: Best Effort
+        Value: /machine_markers
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        {}
+      Topic:
+        Depth: 20
+        Durability Policy: Volatile
+        Filter size: 20
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robotinobase4/line_markers
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 15.017695426940918
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.37539929151535034
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.1053965091705322
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1011
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000351000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f00000351000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006501000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e20000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1854
+  X: 66
+  Y: 32

debug_laser_mapper.rviz

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+# Find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -29,15 +29,22 @@ find_package(tf2_sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system)
 find_package(PCL REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(laser_scan_integrator_msg REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
+
+# Include directories
 include_directories(
   include
   ${PCL_INCLUDE_DIRS}
 )
+
+# Executable
 add_executable(laser_scan_integrator src/main.cpp)
-ament_target_dependencies(laser_scan_integrator 
-  rclcpp 
-  std_msgs 
+ament_target_dependencies(laser_scan_integrator
+  rclcpp
+  std_msgs
   sensor_msgs
   tf2_sensor_msgs
   rcl_interfaces
@@ -48,8 +55,19 @@ ament_target_dependencies(laser_scan_integrator
   geometry_msgs
   Boost
   PCL
-  
+  pcl_conversions
+  laser_scan_integrator_msg
+  visualization_msgs
 )
+
+# Link PCL librariesrosidl_generate_interfaces
+target_link_libraries(laser_scan_integrator ${PCL_LIBRARIES})
+
+
+# Export dependencies
+ament_export_dependencies(laser_scan_integrator_msg)
+
+# Install launch files
 install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}
@@ -59,18 +77,14 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
-
+# Install executable
 install(TARGETS
-laser_scan_integrator
-DESTINATION lib/${PROJECT_NAME})
+  laser_scan_integrator
+  DESTINATION lib/${PROJECT_NAME})
+
+# Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

CMakeLists.txt laser_scan_integrator/CMakeLists.txtCMakeLists.txt renamed to laser_scan_integrator/CMakeLists.txt

@@ -16,7 +16,7 @@ The features of this package are below:
 3. RVIZ2
 4. RQT
 
-## How to use 
+## How to use
 1. Clone the repo to your ros2 workspace
 ```bash
 git clone https://github.com/hijimasa/laser_scan_integrator.git