ROS2-IO in real-time with ROS2 topics (PC2 + IMU data).

LidarView, Lidar, and SLAM
1

Hello!

I use a custom Lidar system (non-rotating, high speed), and I wanted to explore the possibility of using LidarView with it.

I’m interested in having ROS 2 data directly into LidarView, in real-time. So not only reading ROS2 bags but, for instance, LidarView subscribing to PC2/IMU topics.

Additionally, real-time odometry would be a nice addition.

I’m aware from this link that these are planned features. I was just wondering if this will likely be implemented in the near future, or if it is more likely a low-priority project?

Thanks in advance for your help,

2

Hi @pierre,

This feature is already implemented in LidarView (but is not yet part of a release). You can download the nightly version of LidarView following this link (click on download artifacts under Actions).

The topics currently supported are:

  • sensor_msgs/msg/PointCloud2
  • sensor_msgs/msg/Imu
  • sensor_msgs/msg/NavSatFix
  • nav_msgs/msg/Odometry
  • oxts_msgs/msg/NavSatRef

To create a subscriber you have to create a ROS 2 PointCloud DDS Subscriber or ROS 2 Table DDS Subscriber source.

Let me know if you encounter any issue or if you have any feedback / feature ideas.

Timothée

3

Thanks you @Timothee_Couble.

I’ll give it a try soon and come back to you with some feedback.

Pierre

4

@Timothee_Couble

First of all, thank you again for your help.

I tried the LidarView Nightly build, and was able to subscribe to both PC2/IMU ROS2 topics:

  • Data were displayed correctly on the 3D view panel.

  • PC2 data were reported in ROS2PointCloudDDSSubscriber1–>Point Data, and IMU data were reported in ROS2TableDDSSubscriber1–> Row Data.

  • Regarding IMU data, I tried both raw IMU data, and also IMU data coming from Madgwick filter (ROS package).

–> I am wondering if there is a way to enable Odometry in real time already, in the Nightly build? (with data from PC2 + Madgwick filter for instance, via ROS 2 topics)

Pierre

5

Hi @pierre,

Odometry should be available with the nav_msg/msg/Odometry topic (using Table DDS Subscriber source).

6

Thank you @Timothee_Couble, I’ll give it a try.