tms_ss_terrain_static

tms_ss_terrain_static

tms_ss_terrain_static is a package for handling point cloud data of static terrain.

• tms_ss_terrain_static

  tms_ss_terrain_static converts PointCloud2 msg to .pcd file and sends the file info to tms_db_writer_gridfs.

• tms_ss_terrain_static_mesh

  tms_ss_terrain_static_mesh converts PointCloud2 msg to .ply (mesh) file and sends the file info to tms_db_writer_gridfs.

The received PointCloud2 msg is a point cloud data of static terrain.

Usecase

1. Run tms_db_writer_gridfs or tms_db_manager

Detail description is here.

Receive TmsdbGridFS from tms_ss_terrain_static and store them in ROS2-TMS database.

Writer

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

2. Run tms_sd_terrain

Detail description is here

Relay static terrain's PointCloud2 msg to tms_ss_terrain_static.

ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/topic/of/static/pointcloud2 input/terrain/dynamic/pointcloud2:=/topic/of/dynamic/pointcloud2

3. Run tms_ss_terrain_static

After the following command, a node is executed that subscribes PointCloud2 and publishes TmsdbGridFS including the .pcd or .ply file info converted from the PointCloud2.

ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply filename_dem:=demo.npy voxel_size:=0.1 octree_depth:=8 density_th:=0.1 fill_nan_type:=avg resolution:=0.1

Inputs / Outputs

Inputs

Name	Type	Description
/tms_sd_terrain_static	sensor_msgs::msg::PointCloud2	point cloud data of static terrain

Outputs

Name	Type	Description
/tms_db_gridfs_data	tms_msg_db::msg::TmsdbGridFS	.pcd or .ply file info of static terrain or static terrain's mesh

Parameters

Name	Type	Default Value	Description
filename	string	filename.pcd	.pcd file name of static terrain converted from PointCloud2
filename_mesh	string	filename_mesh.ply	.ply file name of static terrain's mesh converted from PointCloud2
filename_dem	string	filename_dem.npy	.npy file name of static terrain's DEM converted from PointCloud2
voxel_size	float	0.0	voxel size of downsampling
octree_depth	int	2	octree depth to generate mesh
density_th	float	0.1	density threshold to remove vertices and triangles that have a low support
fill_nan_type	string	none	type to fill nan (you can choose avg, median, or other which means don't fill)