ROS2与Nav2应用opennav仿真教程-点云地面分割

说明

• 介绍如何对点云进行处理，实现分割地面的点云数据

步骤

• 启动仿真

ros2 launch honeybee_bringup robot.launch.py  use_simulation:=true use_sim_time:=true

• gazebo效果图

• 启动点云分割

ros2 launch honeybee_nav2  patchworkpp.launch.py 

• 启动rviz

ros2 launch  honeybee_nav2  rviz_3d_patchworkpp.launch.py

• 效果图

• 原来的雷达点云数据话题是/sensors/lidar_0/points
• 经过点云分割后，获取多个话题

/sensors/lidar_0/segmented_cloud
/sensors/lidar_0/segmented_ground
/sensors/lidar_0/segmented_nonground