diff --git a/1.7.8-1.tar.gz b/1.7.8-1.tar.gz index 4906d5bda3b317abbf60144e58fa21bd913ce0e5..801dd9fb840054f6faf98de351d46fc0cce48e4d 100644 Binary files a/1.7.8-1.tar.gz and b/1.7.8-1.tar.gz differ diff --git a/README.en.md b/README.en.md index 9906685eb7b2f429a2ff1aa1e6eb8b73feb0b404..3fa6957b344a59f0dc1fb89141c2ac3cc94f010e 100644 --- a/README.en.md +++ b/README.en.md @@ -1,32 +1,101 @@ -# angles +# laser_assembler #### Description -This package provides a set of simple math utilities to work with angles. The utilities cover simple things like normalizing an angle and conversion between degrees and radians. But even if you're trying to calculate things like the shortest angular distance between two joint space positions of your robot, but the joint motion is constrained by joint limits, this package is what you need. The code in this package is stable and well tested. There are no plans for major changes in the near future. +Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type. #### Software Architecture Software architecture description -The Angles contains the following methods: - -Angular conversions: angles::from_degrees, angles::to_degrees -Angular manipulations: angles::normalize_angle_positive, angles::normalize_angle -Angular distance: angles::shortest_angular_distance, angles::shortest_angular_distance_with_limits -Angular tools: angles::find_min_max_delta, angles::two_pi_complement +The primary content of the laser_filters package is a number of general purpose filters for processing sensor_msgs/LaserScan messages. These filters are exported as plugins designed to work with with the filters package. At the moment all of these filters run directly on sensor_msgs/LaserScan, but filters may be added in the future which process sensor_msgs/PointCloud instead. Please review the filters documentation for an overview of how filters and filter chains are intended to work. + +This package provides two nodes that can run multiple filters internally. Using these nodes to run your filters is considered best practice, since it allows multiple nodes to consume the output while only performing the filtering computation once. The nodes are minimal wrappers around filter chains of the given type. The scan_to_scan_filter_chain applies a series of filters to a sensor_msgs/LaserScan. The scan_to_cloud_filter_chain first applies a series of filters to a sensor_msgs/LaserScan, transforms it into a sensor_msgs/PointCloud, and then applies a series of filters to the sensor_msgs/PointCloud. + + +input: +``` +laser_assembler/ +├── CHANGELOG.rst +├── CMakeLists.txt +├── doc +│   └── data_flow.svg +├── examples +│   └── periodic_snapshotter.cpp +├── include +│   └── laser_assembler +├── package.xml +├── src +│   ├── laser_scan_assembler.cpp +│   ├── laser_scan_assembler_srv.cpp +│   ├── merge_clouds.cpp +│   ├── point_cloud2_assembler.cpp +│   ├── point_cloud_assembler +│   ├── point_cloud_assembler.cpp +│   └── point_cloud_assembler_srv.cpp +├── srv +│   ├── AssembleScans2.srv +│   └── AssembleScans.srv +└── test + ├── dummy_scan_producer.cpp + ├── test_assembler.cpp + └── test_laser_assembler.launch + +``` #### Installation -1. Dowload RPM +1. Download RPM + +aarch64: + +wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-laser_assembler/ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.aarch64.rpm + +x86_64: + +wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-laser_assembler/ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.x86_64.rpm + +2. Install RPM + +aarch64: -wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/21.03/standard_aarch64/aarch64/laser_assembler-1.7.8-1.oe1.aarch64.rpm +sudo rpm -ivh ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.aarch64.rpm --nodeps --force -2. Install RPM +x86_64: -sudo rpm -ivh laser_assembler-1.7.8-1.oe1.aarch64.rpm +sudo rpm -ivh ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.x86_64.rpm --nodeps --force #### Instructions -Exit the angles file under the /opt/ros/noetic/devel_isolated/ directory , Prove that the software installation is successful +Dependence installation + +sh /opt/ros/noetic/install_dependence.sh + +Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful + +``` +laser_assembler/ +├── cmake.lock +├── env.sh +├── include +│   └── laser_assembler +├── lib +│   ├── laser_assembler +│   ├── pkgconfig +│   └── python2.7 +├── local_setup.bash +├── local_setup.sh +├── local_setup.zsh +├── setup.bash +├── setup.sh +├── _setup_util.py +├── setup.zsh +└── share + ├── common-lisp + ├── gennodejs + ├── laser_assembler + └── roseus + +``` #### Contribution diff --git a/README.md b/README.md index a9a7226bfe15c52b66d072097eaf6d9865a229b9..cbe5240dc35dae387595e0b5fdfa55cb7435d91d 100644 --- a/README.md +++ b/README.md @@ -1,32 +1,101 @@ -# angles +# laser_assembler #### 介绍 -该软件包提供了一组简单的数学实用程序来处理角度。该实用程序涵盖了简单的事情，例如标准化角度以及度和弧度之间的转换。但是，即使您正在尝试计算机器人两个关节空间位置之间的最短角距离之类的东西，但是关节运动受关节限制的限制，您仍然需要此软件包。该软件包中的代码稳定且经过了良好的测试。没有在不久的将来进行重大更改的计划。 +laser_assembler设计用于在使用 sensor_msgs/LaserScan 类型的 2D 平面激光扫描仪上运行的各种过滤器 #### 软件架构 软件架构说明 -角度包含以下方法： - -角度转换：angles :: from_degrees，angles :: to_degrees -角度操作：angles :: normalize_angle_positive，angles :: normalize_angle -角距：angles :: shortest_angular_distance，angles :: shortest_angular_distance_with_limits -角度工具：angles :: find_min_max_delta，angles :: two_pi_complement - +laser_assembler包含以下方法： + +laser_assembler包的主要内容是一些用于处理sensor_msgs/LaserScan消息的通用过滤器。这些过滤器作为插件导出，旨在与过滤器包一起使用。目前所有这些过滤器都直接在sensor_msgs/LaserScan上运行，但将来可能会添加过滤器来处理sensor_msgs/PointCloud。请查看过滤器文档以了解过滤器和过滤器链的工作原理。 + +这个包提供了两个可以在内部运行多个过滤器的节点。使用这些节点来运行过滤器被认为是最佳实践，因为它允许多个节点使用输出，同时只执行一次过滤计算。节点是给定类型的过滤器链周围的最小包装器。该scan_to_scan_filter_chain应用一系列的过滤器，以一个sensor_msgs /激光扫描。所述scan_to_cloud_filter_chain第一施加一系列的过滤器，以一个sensor_msgs /激光扫描，变换成一sensor_msgs /点云，然后应用一系列的过滤器到sensor_msgs /点云。 + +文件内容: +``` +laser_assembler/ +├── CHANGELOG.rst +├── CMakeLists.txt +├── doc +│   └── data_flow.svg +├── examples +│   └── periodic_snapshotter.cpp +├── include +│   └── laser_assembler +├── package.xml +├── src +│   ├── laser_scan_assembler.cpp +│   ├── laser_scan_assembler_srv.cpp +│   ├── merge_clouds.cpp +│   ├── point_cloud2_assembler.cpp +│   ├── point_cloud_assembler +│   ├── point_cloud_assembler.cpp +│   └── point_cloud_assembler_srv.cpp +├── srv +│   ├── AssembleScans2.srv +│   └── AssembleScans.srv +└── test + ├── dummy_scan_producer.cpp + ├── test_assembler.cpp + └── test_laser_assembler.launch +``` #### 安装教程 1. 下载rpm包 -wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/21.03/standard_aarch64/aarch64/laser_assembler-1.7.8-1.oe1.aarch64.rpm +aarch64: + +wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-laser_assembler/ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.aarch64.rpm + +x86_64: + +wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-laser_assembler/ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.x86_64.rpm + 2. 安装rpm包 -sudo rpm -ivh laser_assembler-1.7.8-1.oe1.aarch64.rpm +aarch64: + +sudo rpm -ivh ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.aarch64.rpm --nodeps --force + +x86_64: +sudo rpm -ivh ros-noetic-ros-laser_assembler-1.7.8-1.oe2203.x86_64.rpm --nodeps --force #### 使用说明 -安装完成以后，在/opt/ros/noetic/devel_isolated/目录下有laser_assembler/文件夹证明安装成功 +依赖环境安装: + +sh /opt/ros/noetic/install_dependence.sh + +安装完成以后，在/opt/ros/noetic/目录下有如下输出,则表示安装成功 + +输出: +``` +laser_assembler/ +├── cmake.lock +├── env.sh +├── include +│   └── laser_assembler +├── lib +│   ├── laser_assembler +│   ├── pkgconfig +│   └── python2.7 +├── local_setup.bash +├── local_setup.sh +├── local_setup.zsh +├── setup.bash +├── setup.sh +├── _setup_util.py +├── setup.zsh +└── share + ├── common-lisp + ├── gennodejs + ├── laser_assembler + └── roseus + +``` #### 参与贡献 diff --git a/laser_assembler.spec b/laser_assembler.spec index adf14eda00d05ff35214b0a4d382eb131d873ebe..cccd81fe922b2a2c142d7d8f1b3908c9995b9e04 100644 --- a/laser_assembler.spec +++ b/laser_assembler.spec @@ -1,7 +1,7 @@ -Name: laser_assembler +Name: ros-noetic-ros-laser_assembler Version: 1.7.8 Release: 1 -Summary: This is ROS noetic navigation Package +Summary: This is ROS noetic %{name} Package License: Public Domain and Apache-2.0 and BSD and MIT and BSL-1.0 and LGPL-2.1-only and MPL-2.0 and GPL-3.0-only and GPL-2.0-or-later URL: https://github.com/ros-gbp/laser_assembler-release/archive/release/noetic/laser_assembler Source0: https://github.com/ros-gbp/laser_assembler-release/archive/release/noetic/laser_assembler/1.7.8-1.tar.gz @@ -25,7 +25,7 @@ BuildRequires: gtest-devel BuildRequires: gmock-devel %description -This is ROS noetic laser_assembler Package. +This is %{name} Package %prep %setup @@ -75,6 +75,7 @@ cd .. cd .. ./src/catkin/bin/catkin_make_isolated --install +cp install_dependence.sh install_isolated/ #### # 对install_isoloate内部的变量名称进行替换