csf_ros

ROS 2 wrapper for CSF (Cloth Simulation Filtering).

Usage

Install CSF

git clone https://github.com/jianboqi/CSF.git
cd CSF
mkdir build && cd build
cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON # the option is required to link the library with shared one (ROS node)
make -j
sudo make install

Build

cd ~/csf_ws/src # example
git clone https://github.com/mitukou1109/csf_ros.git
cd ..
rosdep install -iyr --from-paths src
colcon build # add options as you like
source ~/csf_ws/install/local_setup.bash
ros2 run csf_ros ground_filter_node --ros-args --params-file ~/csf_ws/install/csf_ros/share/csf_ros/config/ground_filter.yaml

Interface

Subscribed topics

Name	Type	Description
/points	sensor_msgs/PointCloud2	Input point cloud

Published topics

Name	Type	Description
~/ground_points	sensor_msgs/PointCloud2	Ground point cloud
~/off_ground_points	sensor_msgs/PointCloud2	Off-ground point cloud

Parameters

Name	Type	Description
enable_post_processing	bool
class_threshold	double
cloth_resolution	double
max_iterations	int
rigidness	int
time_step	double