ERL Jackal2 points filter

ERL Jackal2 3D lidar filter. Filter the raw OS1-32 lidar data of robo-body/antennas.

How to use

1. This package was already installed in ERL Jackal 2 robot under the work space "catkin_ws".
2. cd catkin_ws
3. source devel/setup.bash
4. roslaunch erl_jackal2_filter points_filter.launch OR integrate the launch content with your own launch file.

How to modify the launch file

<launch>

  <node pkg="erl_jackal2_filter" type="erl_jackal2_filter" name="jackal2_filter_node" output="screen">
    <param name="input_cloud_topic_name"                   value="/ouster/points" />
    <param name="output_cloud_topic_name_in_roboframe"     value="/jackal2_filtered/points" />
    <param name="output_cloud_topic_name_in_worldframe"    value="/jackal2_filtered/points_in_map" />
    <param name="world_frame_id"                           value="map" />
    <param name="lidar_frame_id"                           value="os_sensor" />
    <param name="x_filter_min"                             value=" -0.8" />
    <param name="x_filter_max"                             value="  0.0" />
    <param name="y_filter_min"                             value=" -0.3" />
    <param name="y_filter_max"                             value="  0.3" />
    <param name="z_filter_min"                             value=" -0.05" />
    <param name="z_filter_max"                             value="  0.05" />
  </node>

</launch>

1. x_filter_min/max: the minimum/maximum range of x axis you want to filter out.

   y_filter_min/max: the minimum/maximum range of y axis you want to filter out.

   These two parameters will work as a filter box with:

   1. length: x_filter_max - x_filter_min
   2. width : y_filter_max - y_filter_min
   3. height: maximum lidar z range

2. z_filter_min/max: an extra ground filter, set as 0.00 to keep the lidar ground points.

Performance

1. The pointcloud before the filter:

2. The pointcloud after the filter: