PointCloud Filter ROS Node

This ROS package implements a node that filters PointCloud2 messages based on intensity and provides the ability to throttle messages.

Overview

The pointcloud_filter_node_hw subscribes to a PointCloud2 /input_pointcloud topic, applies a filtering process, and publishes the filtered PointCloud2 data to the /filtered_pointcloud topic. This node allows the removal of points with intensities below 1000 and includes a throttle feature to control message publishing frequency (set to 2 as default).

Requirements

• ROSdistro Noetic
• ROSversion 1.15.9
• Dependencies: [roscpp, sensor_msgs, rospcl]
• TurtleBot3 used for simulation and testing

Installation

1. Clone this repository into your catkin workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/natycalvob/Quantillion_HW.git

2. Build the package:

   cd ~/catkin_ws
   catkin_make
   source devel/setup.bash

Usage

1. Launch the pointcloud_filter_node_hw node along with RViz for visualization:

   roslaunch pointcloud_filter pointcloud_filter_node.launch

2. Set parameters for the node:

   Edit the launch file or use rosparam to adjust the throttle rate and intensity threshold as needed.

3. Visualize the filtered PointCloud data:

   The launch file opens RViz and loads the provided pc_visualization_config.rviz configuration file to visualize the filtered PointCloud data.

4. Optional. To run the node without RVIZ configuration:

   rosrun pointcloud_filter pc_filter_node

Parameters

• throttle_rate: Controls the message publishing frequency.
• intensity_threshold: Sets the threshold for intensity filtering.

Nodes

ROS Node Info

• rosnode info /pointclound_filter_node_hw

Node [/pointcloud_filter_node_hw]
Publications:
 * /filtered_pointcloud [sensor_msgs/PointCloud2]
 * /rosout [rosgraph_msgs/Log]

Subscriptions:
 * /clock [rosgraph_msgs/Clock]
 * /input_pointcloud [sensor_msgs/PointCloud2]

Services:
 * /pointcloud_filter_node_hw/get_loggers
 * /pointcloud_filter_node_hw/set_logger_level

Subscribed Topics

• /input_pointcloud (sensor_msgs/PointCloud2): Input PointCloud data to be filtered.

Published Topics

• /filtered_pointcloud (sensor_msgs/PointCloud2): Filtered PointCloud data.

Launch Files

• pointcloud_filter.launch: Launches the pc_filter_node with specified parameters and RViz visualization.