PCL Tutorials with ROS

This package executes pointclouds.org's tutorials on ROS environments.

Requirments

• ROS Melodic
• ROS Noetic

Optional

• RealSense
  • RealSense D415
  • RealSense SDK

Docker image

Please refer to .docker/README.md for details.

docker pull ghcr.io/shotaak/pcl_tutorials_ros:noetic

Source build

# Clone this package
cd ~/catkin_ws/src
git clone https://github.com/ShotaAk/pcl_tutorials_ros

# Install package dependencies
rosdep install -r -y --from-paths . --ignore-src

# Build
cd ~/catkin_ws
catkin_make

# Download sample pcd files
sudo apt install wget
cd ~/catkin_ws/src/pcl_tutorials_ros/samples
./download.sh

Tutorials

Please refer to pcl_tutorials_ros's Tutorials page.

Use Realsense D415

roslaunch pcl_tutorials_ros example.launch realsense:=true

Use Gazebo

roslaunch pcl_tutorials_ros example.launch gazebo:=true

Use PCD file

Example: ./samples/pcl_logo.pcd

roslaunch pcl_tutorials_ros example.launch use_file:=true file:=pcl_logo.pcd

License

This package is released under the MIT License.

The original source code of kinect_ros is osrf/gazebo_models (Creative Commons Attribution 3.0 Unported License).