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jonbinneyjonbinney
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Merge pull request #189 from eurogroep/feat/ros2-port-all-filters
Feature: ros2 port for all filters
2 parents de3520a + 2fe180c commit 4945cd7

26 files changed

+2178
-265
lines changed

‎CMakeLists.txt

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@@ -43,7 +43,7 @@ ament_auto_add_executable(generic_laser_filter_node src/generic_laser_filter_nod
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##############################################################################
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pluginlib_export_plugin_description_file(filters laser_filters_plugins.xml)
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ament_auto_package(INSTALL_TO_SHARE examples)
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ament_auto_package(INSTALL_TO_SHARE examples test)
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##############################################################################
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# Test
@@ -77,4 +77,36 @@ if(BUILD_TESTING)
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--gtest_output=xml:${RESULT_FILENAME}
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RESULT_FILE ${RESULT_FILENAME}
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)
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set(TEST_NAME test_speckle_filter)
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set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
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ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
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ament_target_dependencies(${TEST_NAME} angles)
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target_link_libraries(${TEST_NAME} laser_scan_filters)
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ament_add_test(
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${TEST_NAME}
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COMMAND
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$<TARGET_FILE:${TEST_NAME}>
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--ros-args
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--gtest_output=xml:${RESULT_FILENAME}
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RESULT_FILE ${RESULT_FILENAME}
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)
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set(TEST_NAME test_scan_shadows_filter)
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set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
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ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
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ament_target_dependencies(${TEST_NAME} filters rclcpp sensor_msgs)
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target_link_libraries(${TEST_NAME} laser_scan_filters)
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ament_add_test(
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${TEST_NAME}
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COMMAND
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$<TARGET_FILE:${TEST_NAME}>
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--ros-args
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--gtest_output=xml:${RESULT_FILENAME}
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RESULT_FILE ${RESULT_FILENAME}
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)
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find_package(launch_testing_ament_cmake)
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add_launch_test(test/test_polygon_filter.test.py)
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add_launch_test(test/test_speckle_filter.test.py)
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endif()

‎examples/polygon_filter_example.launch.py

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@@ -0,0 +1,20 @@
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from launch import LaunchDescription
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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return LaunchDescription(
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[
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Node(
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package="laser_filters",
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executable="scan_to_scan_filter_chain",
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parameters=[
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PathJoinSubstitution(
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[get_package_share_directory("laser_filters"), "examples", "polygon_filter_example.yaml"]
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)
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],
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)
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]
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)

‎examples/polygon_filter_example.yaml

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scan_to_scan_filter_chain:
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ros__parameters:
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filter1:
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name: polygon_filter
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type: laser_filters/LaserScanPolygonFilter
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params:
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polygon_frame: base_link
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polygon: '[[0.0, 0.0], [0.1, 0.1], [0.1, 0.0], [0.0, -0.1]]'
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invert: false
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footprint_topic: base_footprint_exclude

‎examples/scan_blob_filter_example.launch.py

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from launch import LaunchDescription
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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return LaunchDescription(
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[
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Node(
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package="laser_filters",
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executable="scan_to_scan_filter_chain",
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parameters=[
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PathJoinSubstitution(
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[get_package_share_directory("laser_filters"), "examples", "scan_blob_filter_example.yaml"]
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)
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],
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)
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]
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)

‎examples/scan_blob_filter_example.yaml

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scan_to_scan_filter_chain:
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ros__parameters:
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filter1:
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name: scan_blob_filter
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type: laser_filters/ScanBlobFilter
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params:
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max_radius: 0.25 # maximum radius to be considered as blob object
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min_points: 6 # min scan points to be considered as blob object

‎examples/sector_filter_example.launch.py

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from launch import LaunchDescription
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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return LaunchDescription(
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[
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Node(
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package="laser_filters",
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executable="scan_to_scan_filter_chain",
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parameters=[
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PathJoinSubstitution(
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[get_package_share_directory("laser_filters"), "examples", "sector_filter_example.yaml"]
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)
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],
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)
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]
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)

‎examples/sector_filter_example.yaml

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scan_to_scan_filter_chain:
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ros__parameters:
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filter1:
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name: scan_filter
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type: laser_filters/LaserScanSectorFilter
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params:
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angle_min: 2.54 # if not specified defaults to 0.0
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angle_max: -2.54 # if not specified defaults to 0.0
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range_min: 0.2 # if not specified defaults to 0.0
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range_max: 2.0 # if not specified defaults to 100000.0
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clear_inside: true # if not specified defaults to true
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invert: false # (!clear_inside) if not specified defaults to false

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