ros2_laser_scan_merger

A full c++ based ros2 package to merge several laserscan / lidars topics by creating a new virtual laserscan topic. Each source laserscan could be configure via the parameter to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan.

Prerequisite

1. ROS2 (Tested on Humble)
2. Your laserscans driver (Tested using RPLIDAR S1 and RPLIDAR S1)
3. RVIZ2
4. RQT
5. Pointcloud to Laserscan

How to use

1. Clone the repo to your ros2 workspace

git clone https://github.com/mich1342/ros2_laser_scan_merger.git

2. Edit the topic name in the launch file if needed

3. Build and Source

colcon build && source install/setup.bash

4. Launch the package

• To launch without visualizer

ros2 launch ros2_laser_scan_merger merge_2_scan.launch.py

• To launch with visualizer (RVIZ2)

ros2 launch ros2_laser_scan_merger visualize_merge_2_scan.launch.py

Both of the launch file already integrated with the pointclound_to_laserscan package

5. Open RQT to set the parameter

rqt

Available Parameters

All parameters are being set in the params.yaml file inside the config directory.

All parameters similar for the first and second lidar data. The {x} marks means the index pattern for the lidar data. Example: show{x} means show1 and show2 for 2 lidar configuration.

Parameter Name	Default Value	Description
scanTopic{x}	/lidar_1/scan /lidar_2/scan	laser scan or lidar topic
show{x}	true	set as true to include the first lidar data or false to hide the specific lidar data
flip{x}	false	set as true for upside down lidar installation
laser{x}AngleMax	180	maximum angle in degree of the lidar data that are being used for the final merged result, usefull to hide some part of the lidars data. will highly depends on each lidar specification
laser{x}AngleMin	-180	minimum angle in degree of the lidar data that are being used for the final merged result, usefull to hide some part of the lidars data. will highly depends on each lidar specification
inverse{x}	false	set as true to inverse the hidden lidar data based on the laser{x}AngleMax and laser{x}AngleMin value
laser{x}Alpha	0	angular offset of the lidar data
laser{x}XOff	-0.3	linar offset of the lidar data in x axis
laser{x}YOff	-0.475	linar offset of the lidar data in y axis
laser{x}ZOff	0.176	linar offset of the lidar data in z axis
laser{x}B	0	set color to the resulted pointclound2 data (0-255)
laser{x}G	0	set color to the resulted pointclound2 data (0-255)
laser{x}R	255	set color to the resulted pointclound2 data (0-255)
pointCloudTopic	cloud_in	pointcloud2 published topic (adjusted to pointcloud_to_laserscan package)
pointCloutFrameId	laser	frame id of the pointcloud2 published data