dora2filter

A filter using the dot product of direction vectors from two adjacent points and their midpoint vector.

Installation

Dependencies

• ROS2 Humble or later
• laser_filters package
• socat
• (Optional) YDLIDAR-SDK

mkdir ~/dora2filter_ws/src -p
cd ~/dora2filter_ws/src

git clone https://github.com/NITKK-ROS-Team/dora2filter.git
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git -b humble
# git clone https://github.com/Ar-Ray-code/tmini_plus_emulator.git # Optional : use filter demo without LiDAR

cd ~/dora2filter_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Usage

Terminal1

Start the LiDAR driver

ros2 launch ydlidar_ros2_driver ydlidar_launch.py params_file:=<path to YDLIDAR config>

Terminal2

Start the filter node

ros2 run laser_filters scan_to_scan_filter_chain --ros-args -r __node:=dora2_filter_node --params-file ./src/dora2filter/config/dora2_filter.yaml

References

• NITIC-Robot-Club/natto_library

Special thanks : @Doraemonjayo