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MatteoTschesche
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Dec 9, 2025
MatteoTschesche
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Thanks for the work. Here is some feedback. Still need to read everything fully.
debug_laser_mapper.rviz
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| Value: true | ||
| map: | ||
| Value: true | ||
| robotinobase4/base_link: |
debug_laser_mapper.rviz
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| {} | ||
| WAIT4: | ||
| {} | ||
| robotinobase4/odom: |
| declare_integratedtopic_argument = DeclareLaunchArgument( | ||
| "integratedTopic", | ||
| default_value="/robotinobase1/scan", | ||
| default_value="/robotinobase2/scan", |
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same here, this needs to be done via workspaces i guess
| ) | ||
| declare_integratedframe_argument = DeclareLaunchArgument( | ||
| "integratedFrameId", default_value="robotinobase1/laser_link", description="Integrated Frame ID" | ||
| "integratedFrameId", default_value="robotinobase2/laser_link", description="Integrated Frame ID" |
| declare_position_tolerance_argument = DeclareLaunchArgument( | ||
| "position_tolerance", | ||
| default_value="0.3", | ||
| default_value="1", |
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is this between robot and scanned line or between scanned line and map position?
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make this clear in the description please
| *line_cluster_index = *tmp_index; | ||
| RCLCPP_INFO(this->get_logger(), | ||
| "tmp_index (Anzahl: %zu):", tmp_index->indices.size()); | ||
| for (std::size_t i = 0; i < tmp_index->indices.size(); ++i) { |
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you also need to delete the loop
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- Implement LookUp for faster mapping of laser segments to machines - Add rolling average for corrected TF transformations - Add laser TFs for MPS parts - Fix launch file configuration for mapper node - Add offset configuration parameters - Clean up logging statements Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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This pull request primarily implements two new features:
The laser_scan_integrator node has been extended with a segmentation function.
The function can be activated via a service call. An example call is:
ros2 service call /robotinobase1/toggle_segmentation laser_scan_integrator_msg/srv/ToggleSegmentation "{enable_segmentation: true}"
Once the service is activated, segmented lines are published on the topic /robotinobase1/line_segments.
A new node called mapper has been added.
This node subscribes to the line_segments topic and checks whether segmented lines can be assigned to a machine.
The mapper node currently only starts if the launch argument start_mapper is set to true:
ros2 launch integrated_scan.launch.py start_mapper:=true
If the launch file is not used, the node can also be started separately, for example via:
ros2 run laser_scan_mapper mapper --ros-args --remap __ns:=/robotinobase4 -p frameID:=robotinobase4 -p use_sim_time:=true -p position_tolerance:=0.3 -p angle_tolerance:=0.5 -p machine_names:="['M-DS','M-SS','M-BS','M-CS1','M-CS2','M-RS1','M-RS2','C-DS','C-BS','C-SS','C-RS1','C-RS2','C-CS1','C-CS2']"