{"id":8631,"date":"2024-07-16T12:40:44","date_gmt":"2024-07-16T04:40:44","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=8631"},"modified":"2024-07-16T16:51:14","modified_gmt":"2024-07-16T08:51:14","slug":"ros-laser_filters%e5%b1%8f%e8%94%bd%e6%97%a0%e6%95%88%e9%9b%b7%e8%be%be%e6%95%b0%e6%8d%ae","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=8631","title":{"rendered":"ROS\u2014laser_filters\u5c4f\u853d\u65e0\u6548\u96f7\u8fbe\u6570\u636e"},"content":{"rendered":"

\u4e00\u3001\u6982\u8ff0<\/h1>\n

\u6fc0\u5149\u96f7\u8fbe\u901a\u5e38\u53ef\u4ee5\u68c0\u6d4b360\u5ea6\u7b49\u8303\u56f4\u5185\u7684\u7269\u4f53\uff0c\u4f46\u7531\u4e8e\u673a\u68b0\u7ed3\u6784\u8bbe\u8ba1\u7b49\u539f\u56e0\uff0c\u673a\u5668\u4eba\u672c\u4f53\u53ef\u80fd\u4f1a\u906e\u6321\u90e8\u5206\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u6570\u636e\u3002\u5982\u679c\u5c06\u6fc0\u5149\u96f7\u8fbe\u539f\u59cb\u70b9\u4e91\u76f4\u63a5\u7528\u4e8e\u5efa\u56fe\u6216\u5bfc\u822a\uff0c\u5219\u673a\u5668\u4eba\u672c\u4f53\u7684\u4e00\u90e8\u5206\u4f1a\u88ab\u5f53\u4f5c\u969c\u788d\u7269\u5bfc\u81f4\u5efa\u56fe\u6216\u5bfc\u822a\u65e0\u6cd5\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n

\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u5c31\u9700\u8981\u5bf9\u6fc0\u5149\u96f7\u8fbe\u7684\u539f\u59cb\u70b9\u4e91\u8fdb\u884c\u8fc7\u6ee4\u5904\u7406\uff0c\u5c4f\u853d\u6389\u4e0d\u9700\u8981\u7684\u6570\u636e\uff0cros laser filters\u5c31\u63d0\u4f9b\u4e86\u8fd9\u6837\u4e00\u79cd\u673a\u5236\uff0c\u53ef\u4ee5\u652f\u6301\u901a\u8fc7\u89d2\u5ea6\u3001BOX\u7b49\u65b9\u5f0f\u8fc7\u6ee4\u539f\u59cb\u70b9\u4e91\u6570\u636e\uff0c\u672c\u6587\u5c31\u5e26\u5927\u5bb6\u4e00\u8d77\u4e86\u89e3\u4e0b\u3002<\/p>\n

\u4e8c\u3001\u51c6\u5907\u5de5\u4f5c<\/h1>\n

1.\u5b89\u88c5laser-filters<\/h4>\n
sudo apt install ros-$ROS_DISTRO-laser-filters<\/code><\/pre>\n
2.\u51c6\u5907\u6d4b\u8bd5\u9879\u76ee<\/h4>\n
cd ~\/catkin_ws\/src\r\ncatkin_create_pkg laser_filter_test<\/code><\/pre>\n
\u4e09\u3001\u70b9\u4e91\u8fc7\u6ee4<\/h1>\n
1.\u89d2\u5ea6\u8fb9\u754c\u8fc7\u6ee4\u5668<\/h4>\n
\u987e\u540d\u601d\u4e49\uff0c\u8fd9\u4e2aLaserScanAngularBoundsFilter\u8fc7\u6ee4\u5668\u662f\u901a\u8fc7\u914d\u7f6e\u89d2\u5ea6\u8303\u56f4\u6765\u8fc7\u6ee4\u70b9\u4e91\u3002<\/p>\n
\u6211\u4eec\u914d\u7f6e\u4e00\u4e2a\u8303\u56f4\u4e3a-2.5~2.5\u5f27\u5ea6\u7684\u8fc7\u6ee4\u5668\uff0c\u5bf9\u5e94\u5b9e\u9645\u96f7\u8fbe\u89d2\u5ea6\u5927\u6982\u5728-143~143\u5ea6\u5de6\u53f3\u3002<\/p>\n
vim ~\/catkin_ws\/src\/laser_filter_test\/config\/angle_filter.yaml\r\n\r\nscan_filter_chain:\r\n- name: angle_filter\r\n  type: laser_filters\/LaserScanAngularBoundsFilter\r\n  params:\r\n    lower_angle: -2.5\r\n    upper_angle: 2.5<\/code><\/pre>\n
launch\u6dfb\u52a0laser_filters\u8282\u70b9\uff0c\u6307\u5b9a\u89d2\u5ea6\u8fc7\u6ee4\u6587\u4ef6\uff1a<\/p>\n
vim ~\/catkin_ws\/src\/laser_filter_test\/angle_filter.launch\r\n\r\n<launch>\r\n  <node pkg=\"laser_filters\" type=\"scan_to_scan_filter_chain\"  name=\"laser_filter\">\r\n      <rosparam command=\"load\" file=\"$(find laser_filter_test)\/config\/angle_filter.yaml\" \/>\r\n      <remap from=\"scan\" to=\"scan_filtered\" \/>\r\n  <\/node>\r\n<\/launch><\/code><\/pre>\n
\u542f\u52a8\u6fc0\u5149\u96f7\u8fbe\u8282\u70b9\u4e4b\u540e\uff0c\u542f\u52a8\u89d2\u5ea6\u70b9\u4e91\u8fc7\u6ee4\uff1a<\/p>\n
# \u542f\u52a8lidar\uff08\u8fd9\u4e2a\u4f7f\u7528\u81ea\u5df1\u7684lidar\u8282\u70b9\u5373\u53ef\uff09\r\nroslaunch robot_navigation lidar.launch\r\n\r\n# \u542f\u52a8\u70b9\u4e91\u8fc7\u6ee4\r\nroslaunch laser_filter_test angle_filter.launch<\/code><\/pre>\n
\u6253\u5f00rviz\u6dfb\u52a0\u4e24\u4e2aLaserScan\uff0c\u5206\u522b\u8ba2\u9605\u539f\u59cb\u70b9\u4e91\/scan\u3001\u8fc7\u6ee4\u540e\u70b9\u4e91\/scan_filtered\uff0c\u5206\u522b\u8bbe\u7f6e\u4e3a\u7ea2\u8272\u548c\u7eff\u8272\uff0c\u53ef\u4ee5\u770b\u5230\u6307\u5b9a\u89d2\u5ea6\u7684\u7ea2\u8272\u70b9\u4e91\u88ab\u8fc7\u6ee4\u6389\u4e86\u3002<\/p>\n
\"\"<\/a><\/p>\n
2.BOX\u76d2\u5b50\u8fc7\u6ee4\u5668<\/h4>\n
\u987e\u540d\u601d\u4e49\uff0c\u8fd9\u4e2a\u8fc7\u6ee4\u5668\u53ef\u4ee5\u8bbe\u7f6e\u77e9\u5f62\u6846\u8fc7\u6ee4\u70b9\u4e91\uff0c\u5982\u679c\u4f60\u7684\u673a\u5668\u4eba\u5e95\u76d8\u4e3a\u65b9\u5f62\uff0c\u4e14\u6fc0\u5149\u96f7\u8fbe\u5468\u56f4\u5404\u4e2a\u65b9\u5411\u90fd\u6709\u67f1\u5b50\u7b49\u5e72\u6270\u7269\u4f53\u7684\u8bdd\uff0c\u53ef\u4ee5\u8bbe\u7f6e\u5e95\u76d8\u7684\u5f62\u72b6\u6765\u8fc7\u6ee4\u5e95\u76d8\u5185\u90e8\u7684\u5e72\u6270\u70b9\u4e91\u3002<\/p>\n
\u6211\u4eec\u914d\u7f6e\u4e00\u4e2a\u57fa\u4e8ebase_laser_link\u4e3a\u539f\u70b9\uff0c\u8303\u56f4\u4e3a0.2\u8ddd\u79bb\u7684\u77e9\u5f62\u6846\u8fc7\u6ee4\u5668\u3002<\/p>\n
vim ~\/catkin_ws\/src\/laser_filter_test\/config\/box_filter.yaml\r\n\r\nscan_filter_chain:\r\n- name: box_filter\r\n  type: laser_filters\/LaserScanBoxFilter\r\n  params:\r\n    box_frame: base_laser_link\r\n    min_x: -0.2\r\n    max_x: 0.2\r\n    min_y: -0.2\r\n    max_y: 0.2\r\n    min_z: -0.2\r\n    max_z: 0.2<\/code><\/pre>\n
launch\u6dfb\u52a0laser_filters\u8282\u70b9\uff0c\u6307\u5b9a\u89d2\u5ea6\u8fc7\u6ee4\u6587\u4ef6\uff1a<\/p>\n
vim ~\/catkin_ws\/src\/laser_filter_test\/box_filter.launch\r\n\r\n<launch>\r\n  <node pkg=\"laser_filters\" type=\"scan_to_scan_filter_chain\"  name=\"laser_filter\">\r\n      <rosparam command=\"load\" file=\"$(find laser_filter_test)\/config\/box_filter.yaml\" \/>\r\n      <remap from=\"scan\" to=\"scan_filtered\" \/>\r\n  <\/node>\r\n<\/launch><\/code><\/pre>\n
\u542f\u52a8\u6fc0\u5149\u96f7\u8fbe\u8282\u70b9\u4e4b\u540e\uff0c\u542f\u52a8BOX\u70b9\u4e91\u8fc7\u6ee4\uff1a<\/p>\n
# \u542f\u52a8lidar\uff08\u8fd9\u4e2a\u4f7f\u7528\u81ea\u5df1\u7684lidar\u8282\u70b9\u5373\u53ef\uff09\r\nroslaunch robot_navigation lidar.launch\r\n\r\n# \u542f\u52a8\u70b9\u4e91\u8fc7\u6ee4\r\nroslaunch laser_filter_test box_filter.launch<\/code><\/pre>\n
\u6253\u5f00rviz\u6dfb\u52a0\u4e24\u4e2aLaserScan\uff0c\u5206\u522b\u8ba2\u9605\u539f\u59cb\u70b9\u4e91\/scan\u3001\u8fc7\u6ee4\u540e\u70b9\u4e91\/scan_filtered\uff0c\u5206\u522b\u8bbe\u7f6e\u4e3a\u7ea2\u8272\u548c\u7eff\u8272\uff0c\u53ef\u4ee5\u770b\u5230\u9760\u8fd1\u673a\u5668\u4eba\u672c\u4f53\u8bbe\u5b9a\u65b9\u6846\u8303\u56f4\u7684\u7ea2\u8272\u70b9\u4e91\u88ab\u8fc7\u6ee4\u6389\u4e86\u3002<\/p>\n
\"\"<\/a><\/p>\n
\u56db\u3001\u603b\u7ed3<\/h1>\n
\u597d\u4e86\uff0c\u4eca\u5929\u5e26\u5927\u5bb6\u4e86\u4e0b2D\u70b9\u4e91\u7684\u57fa\u7840\u8fc7\u6ee4\u65b9\u6cd5\uff0claser_filters\u4e5f\u652f\u6301\u66f4\u590d\u6742\u7684\u8fc7\u6ee4\u65b9\u5f0f\uff0c\u6bd4\u5982\u6839\u636e\u70b9\u4e91\u5f3a\u5ea6\u3001\u626b\u63cf\u8303\u56f4\u7b49\u3002\u5c06laser_filters\u8282\u70b9\u6dfb\u52a0\u5230\u4f60\u7684\u673a\u5668\u4ebalidar launch\u4e2d\uff0c\u5e76\u4fee\u6539\u70b9\u4e91\u7684\u8f93\u51fatopic\u5373\u53ef\u4f7f\u7528\u8fc7\u6ee4\u540e\u7684\u70b9\u4e91\u6570\u636e\u4e86\u3002<\/p>\n
 <\/p>\n
yan 24.7.16<\/p>\n
 <\/p>\n
\u53c2\u8003\uff1a<\/p>\n
https:\/\/wiki.ros.org\/laser_filters<\/p>\n","protected":false},"excerpt":{"rendered":"
\u4e00\u3001\u6982\u8ff0 \u6fc0\u5149\u96f7\u8fbe\u901a\u5e38\u53ef\u4ee5\u68c0\u6d4b360\u5ea6\u7b49\u8303\u56f4\u5185\u7684\u7269\u4f53\uff0c\u4f46\u7531\u4e8e\u673a\u68b0\u7ed3\u6784\u8bbe\u8ba1\u7b49\u539f\u56e0\uff0c\u673a\u5668\u4eba\u672c\u4f53\u53ef\u80fd\u4f1a\u906e\u6321\u90e8\u5206\u6fc0\u5149\u96f7 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1346,1005],"tags":[1363,1347,968],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/8631"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=8631"}],"version-history":[{"count":3,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/8631\/revisions"}],"predecessor-version":[{"id":8639,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/8631\/revisions\/8639"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=8631"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=8631"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=8631"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}