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// SPDX-License-Identifier: BSD-3-Clause
#include "lidar_processor_cpp/lidar_to_pointcloud_node.hpp"
#include <chrono>
namespace lidar_processor_cpp
{
LidarToPointCloudNode::LidarToPointCloudNode()
: Node("lidar_to_pointcloud")
{
declareParameters();
config_ = loadConfiguration();
setupSubscriptions();
setupPublishers();
if (config_.save_map) {
save_timer_ = this->create_wall_timer(
std::chrono::duration<double>(config_.save_interval),
std::bind(&LidarToPointCloudNode::saveMapCallback, this)
);
RCLCPP_INFO(this->get_logger(), "Map saving enabled: %s.ply every %.0fs",
config_.map_name.c_str(), config_.save_interval);
}
logConfiguration();
}
void LidarToPointCloudNode::declareParameters()
{
this->declare_parameter("robot_ip_lst", std::vector<std::string>{});
this->declare_parameter("map_name", "3d_map");
this->declare_parameter("map_save", "false");
this->declare_parameter("save_interval", 30.0);
this->declare_parameter("max_points", 500000);
this->declare_parameter("voxel_size", 0.05);
}
LidarConfig LidarToPointCloudNode::loadConfiguration()
{
LidarConfig config;
config.robot_ip_list = this->get_parameter("robot_ip_lst").as_string_array();
config.map_name = this->get_parameter("map_name").as_string();
config.save_map = (this->get_parameter("map_save").as_string() == "true");
config.save_interval = this->get_parameter("save_interval").as_double();
config.max_points = this->get_parameter("max_points").as_int();
config.voxel_size = this->get_parameter("voxel_size").as_double();
return config;
}
void LidarToPointCloudNode::setupSubscriptions()
{
auto qos = rclcpp::QoS(1)
.reliability(rclcpp::ReliabilityPolicy::BestEffort)
.history(rclcpp::HistoryPolicy::KeepLast);
if (config_.robot_ip_list.size() <= 1) {
subscriptions_.push_back(
this->create_subscription<sensor_msgs::msg::PointCloud2>(
"robot0/point_cloud2", qos,
std::bind(&LidarToPointCloudNode::lidarCallback, this, std::placeholders::_1)
)
);
} else {
for (size_t i = 0; i < config_.robot_ip_list.size(); ++i) {
subscriptions_.push_back(
this->create_subscription<sensor_msgs::msg::PointCloud2>(
"/robot" + std::to_string(i) + "/point_cloud2", qos,
std::bind(&LidarToPointCloudNode::lidarCallback, this, std::placeholders::_1)
)
);
}
}
}
void LidarToPointCloudNode::setupPublishers()
{
auto qos = rclcpp::QoS(1)
.reliability(rclcpp::ReliabilityPolicy::BestEffort)
.history(rclcpp::HistoryPolicy::KeepLast);
pointcloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
"/point_cloud2", qos);
}
void LidarToPointCloudNode::lidarCallback(
const sensor_msgs::msg::PointCloud2::SharedPtr msg)
{
try {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(*msg, *cloud);
if (cloud->points.empty()) return;
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered(new pcl::PointCloud<pcl::PointXYZ>);
if (config_.voxel_size > 0.0) {
pcl::VoxelGrid<pcl::PointXYZ> vox;
vox.setInputCloud(cloud);
vox.setLeafSize(
static_cast<float>(config_.voxel_size),
static_cast<float>(config_.voxel_size),
static_cast<float>(config_.voxel_size));
vox.filter(*filtered);
} else {
filtered = cloud;
}
if (filtered->points.empty()) return;
sensor_msgs::msg::PointCloud2 out;
pcl::toROSMsg(*filtered, out);
out.header = msg->header;
pointcloud_pub_->publish(out);
if (config_.save_map) {
std::lock_guard<std::mutex> lock(save_mutex_);
latest_cloud_ = filtered;
}
} catch (const std::exception& e) {
RCLCPP_ERROR(this->get_logger(), "lidarCallback error: %s", e.what());
}
}
void LidarToPointCloudNode::publishAggregatedPointcloud(
const std_msgs::msg::Header&) {}
void LidarToPointCloudNode::saveMapCallback()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_to_save;
{
std::lock_guard<std::mutex> lock(save_mutex_);
if (!latest_cloud_ || latest_cloud_->points.empty()) return;
cloud_to_save = latest_cloud_;
}
if (static_cast<int>(cloud_to_save->points.size()) > config_.max_points) {
pcl::PointCloud<pcl::PointXYZ>::Ptr ds(new pcl::PointCloud<pcl::PointXYZ>);
pcl::VoxelGrid<pcl::PointXYZ> vox;
vox.setInputCloud(cloud_to_save);
float leaf = static_cast<float>(config_.voxel_size) * 2.0f;
vox.setLeafSize(leaf, leaf, leaf);
vox.filter(*ds);
cloud_to_save = ds;
}
const std::string filename = config_.map_name + ".ply";
if (pcl::io::savePLYFileBinary(filename, *cloud_to_save) == 0) {
RCLCPP_INFO(this->get_logger(), "Saved map: %s (%zu points)",
filename.c_str(), cloud_to_save->points.size());
} else {
RCLCPP_ERROR(this->get_logger(), "Failed to save map: %s", filename.c_str());
}
}
void LidarToPointCloudNode::logConfiguration()
{
RCLCPP_INFO(this->get_logger(), "LiDAR to PointCloud node ready");
RCLCPP_INFO(this->get_logger(), " Robots : %zu", config_.robot_ip_list.size());
RCLCPP_INFO(this->get_logger(), " Voxel : %.3fm", config_.voxel_size);
RCLCPP_INFO(this->get_logger(), " Save : %s", config_.save_map ? "true" : "false");
}
} // namespace lidar_processor_cpp
int main(int argc, char* argv[])
{
rclcpp::init(argc, argv);
try {
auto node = std::make_shared<lidar_processor_cpp::LidarToPointCloudNode>();
rclcpp::spin(node);
} catch (const std::exception& e) {
std::cerr << "Fatal: " << e.what() << std::endl;
return 1;
}
rclcpp::shutdown();
return 0;
} |