ground_filter

This node removes the ground points from the input pointcloud by RANSAC Algorithm

The demo video can be found here -> https://youtu.be/eCVASqiWuVc

Requirement

• ROS Melodic (on Ubuntu 18.04 LTS, build and run test on Github Actions)
• ROS Noetic (on Ubuntu 20.04 LTS, build and run test on Github Actions)

Set Up

Download ground_filter package.

$ cd ~/catkin_ws/src/
$ git clone https://github.com/HHorimoto/ground_filter.git
$ cd ~/catkin_ws && catkin_make

How to Use

Launch ground_filter.launch

$ roslaunch ground_filter ground_filter.launch

Test

This package provides test bash for use with Github Actions. This test confirms if /points_lanes and /points_ground are published or not by rosbag. You can also do this test on your computer by following this command. I belive that you can see Success not Fail.

$ roscd ground_filter
$ bash -xv test/test_melodic.bash # or test_noetic.bash
# You can see result.
$ killall -9 rosmaster # kill roscore

License

Distributed under the BSD-3-Clause License. See LICENSE for more information.