robosense_ac_postprocess

README | 中文文档

1. Introduction

robosense_ac_postprocess is a post-processing code repository for LiDAR and image data, enabling point cloud coloring based on images.

2. Prerequisites

This project supports both ROS1 and ROS2. It has been tested on the Noetic version of ROS1 and the Humble version of ROS2.

2.1 Install ROS1 or ROS2

Please follow the official instructions to install ROS:

• ROS1 Installation

• ROS2 Installation

3. Installation & Deployment

3.1 Pulling the Code

Create a new folder or enter your existing workspace, and execute the following commands to pull the code into the workspace.

cd WORKSPACE_PATH/src
mkdir ac_studio && cd ac_studio
git clone https://github.com/RoboSense-Robotics/robosense_ac_postprocess.git -b main

3.2 Installing Dependencies

Use the rosdep tool to install the dependencies required for compiling robosense_ac_postprocess.

cd ac_studio
rosdep install --from-paths robosense_ac_postprocess --ignore-src -r -y

Please follow the instructions to compile the required robosense_msgs for ROS2. Compilation is not needed for ROS1.

3.3 Compile robosense_ac_postprocess

For ROS1 Environment

Execute the following command in the workspace to compile and install robosense_ac_postprocess.

cd WORKSPACE_PATH
catkin build robosense_ac_postprocess

After compilation and installation, it's recommended to refresh the workspace's bash profile to ensure component functionality.

source devel/setup.bash

For ROS2 Environment

cd WORKSPACE_PATH
colcon build --symlink-install --parallel-workers 8 --packages-select robosense_ac_postprocess

After compilation and installation, it's recommended to refresh the workspace's bash profile to ensure component functionality.

source install/setup.bash

4. Running

4.1 Acquiring Data

Data can be obtained either by connecting to a Active Camera online or by playing offline data packets for testing.

4.1.1 Running the Super Sensor

Refer to the documentation to run the online node for real-time data acquisition. Follow the documentation instructions to set the corresponding environment variables in the terminal to enable zero-copy mode or non-zero-copy mode for data acquisition.

4.1.2 Offline Data Playback

Use the ros command to play back data packets, for example:

# ROS1
rosbag play BAG_PATH
# ROS2
ros2 bag play BAG_PATH

4.2 Running Nodes

Run nodes using the ros command:

# ROS1
roslaunch launch/start.launch
# ROS2
ros2 launch robosense_ac_postprocess start.py

5. FAQ

Create New Issue

6. Open Source License

The Apache License, version 2.0.