tms_sd_terrain

tms_sd_terrain

tms_sd_tarrain package has two nodes tms_sd_terrain_static and tms_sd_terrain_dynamic.

• tms_sd_terrain_static

  tms_sd_terrain_static relay PointCloud2 msg to tms_ss_terrain_static.

• tms_sd_terrain_dynamic

  tms_sd_terrain_dynamic formats PointCloud2 msg to TmsdbGridFS msg and sends it to tms_db_writer_gridfs.

Received PointCloud2 msg is a point cloud data of terrain.

Usecase

1. Run tms_db_writer_gridfs or tms_db_manager

Detail description is here.

Receive TmsdbGridFS from tms_ss_terrain_static and store them in ROS2-TMS database.

Writer

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

2. Run tms_sd_terrain

Detail description is here

Relay static terrain's PointCloud2 msg to tms_ss_terrain_static.

ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/topic/of/static/pointcloud2 input/terrain/dynamic/pointcloud2:=/topic/of/dynamic/pointcloud2

Inputs / Outputs

Inputs

Name	Type	Description
/input/terrain/static/pointcloud2	sensor_msgs::msg::PointCloud2	point cloud data of static terrain
/input/terrain/dynamic/pointcloud2	sensor_msgs::msg::PointCloud2	point cloud data of dynamic terrain

Outputs

Name	Type	Description
/tms_db_gridfs_data	tms_msg_db::msg::TmsdbGridFS	.pcd file info of static terrain or point cloud data of dynamic terrain

Parameters

Name	Type	Default Value	Description
filename	string	filename	.pcd file name of static terrain converted from PointCloud2

3. Run tms_ss_terrain_static

After the following command, a node is executed that subscribes PointCloud2 and publishes TmsdbGridFS including the .pcd or .ply file info converted from the PointCloud2.

ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply voxel_size:=0.1 octree_depth:=8 density_th:=0.1