Laser Scan Processor

Laser Scan Processor is a Robot Operating System (ROS) package able to process information from LaserScan messages. Currently the developed features are:

• Line extraction [1]
• Door detection

Here is an example of the project in action:

Usage

roslaunch laser_scan_processor run.launch

Messages

Laser Line Extraction has two messages types:

LineSegment.msg

float32 radius
float32 angle
float32[4] covariance
float32[2] start
float32[2] end

radius (m) and angle (rad) are the polar parameterization of the line segment. covariance is the 2x2 covariance matrix of radius and angle (listed in row-major order). Finally start and end are the (x, y) coordinates of the start and end of the line segment.

LineSegmentList.msg

Header header
LineSegment[] line_segments

An array of LineSegment.msg with a header.

Topics

Laser Line Extraction subscribes to a single topic and publishes one or two topics.

Subscribed topics

• /scan (sensor_msgs/LaserScan)
  • The name of this topic can be configured (see Parameters).

Published topics

• /line_segments (laser_line_extraction/LineSegmentList)
  • A list of line segments extracted from a laser scan.
• /line_markers (visualization_msgs/Marker)
  • (optional) Markers so that the extracted lines can be visualized in rviz (see above image). Can be toggled (see Parameters).
• /door_markers (visualization_msgs/Marker)
  • (optional) Markers so that the extracted door can be visualized in rviz (see above image). Can be toggled (see Parameters).

References

[1] Marc Gallant, Laser Line Extraction, (2020), GitHub repository, https://github.com/kam3k/laser_line_extraction