Renamed node to 'processing_lidar_objects'

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(obstacle_detector)
+project(processing_lidar_objects)
 
 set(CMAKE_CXX_FLAGS "-std=c++11 -fpermissive ${CMAKE_CXX_FLAGS} -Wfatal-errors\ ")
 

README.md

@@ -1,6 +1,6 @@
-# The obstacle_detector package 
+# The processing_lidar_objects package 
 
-The `obstacle_detector` package provides utilities to detect and track obstacles from data provided by 2D laser scanners. Detected obstacles come in a form of line segments or circles. The package was designed for a robot equipped with two laser scanners therefore it contains several additional utilities. The working principles of the method are described in an article provided in the `resources` folder.
+The `processing_lidar_objects` package provides utilities to detect and track obstacles from data provided by 2D laser scanners. Detected obstacles come in a form of line segments or circles. The package was designed for a robot equipped with two laser scanners therefore it contains several additional utilities. The working principles of the method are described in an article provided in the `resources` folder.
 
 The package requires [Armadillo C++](http://arma.sourceforge.net) library for compilation and runtime.
 
@@ -126,7 +126,7 @@ The package comes with Rviz panel for this node.
 
 ### 1.3. The obstacle_tracker node
 
-This node tracks and filters the circular obstacles with the use of Kalman filter. It subscribes to messages of custom type `obstacle_detector/Obstacles` from topic `raw_obstacles` and publishes messages of the same type under topic `tracked_obstacles`. The tracking algorithm is applied only to the circular obstacles, hence the segments list in the published message is simply a copy of the original segments. The tracked obstacles are supplemented with additional information on their velocity.
+This node tracks and filters the circular obstacles with the use of Kalman filter. It subscribes to messages of custom type `processing_lidar_objects/Obstacles` from topic `raw_obstacles` and publishes messages of the same type under topic `tracked_obstacles`. The tracking algorithm is applied only to the circular obstacles, hence the segments list in the published message is simply a copy of the original segments. The tracked obstacles are supplemented with additional information on their velocity.
 
 -----------------------
 <p align="center">
@@ -206,12 +206,12 @@ The package provides three custom message types. All of their numerical values a
     - `geometry_msgs/Point last_point` - end point of the segment.
 * `Obstacles`
     - `Header header`
-    - `obstacle_detector/SegmentObstacle[] segments`
-    - `obstacle_detector/CircleObstacle[] circles`
+    - `processing_lidar_objects/SegmentObstacle[] segments`
+    - `processing_lidar_objects/CircleObstacle[] circles`
 
 ## 3. The launch files
 
-Provided launch files are good examples of how to use `obstacle_detector` package. They give a full list of parameters used by each of provided nodes.
+Provided launch files are good examples of how to use `processing_lidar_objects` package. They give a full list of parameters used by each of provided nodes.
 * `demo.launch` - Plays a rosbag with recorded scans and starts all of the nodes with Rviz configured with appropriate panels.
 * `nodes_example.launch` - Runs all of the nodes with their parameters set to default values.
 * `nodelets_example.launch` - Runs all of the nodelets with their parameters set to default values.

include/obstacle_detector/displays/circle_visual.h → include/processing_lidar_objects/displays/circle_visual.h

@@ -36,7 +36,7 @@
 #pragma once
 
 #ifndef Q_MOC_RUN
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
 #include <OGRE/OgreVector3.h>
 #include <OGRE/OgreSceneNode.h>
@@ -55,7 +55,7 @@ class CircleVisual
 
   virtual ~CircleVisual();
 
-  void setData(const obstacle_detector::CircleObstacle& circle);
+  void setData(const processing_lidar_objects::CircleObstacle& circle);
   void setFramePosition(const Ogre::Vector3& position);
   void setFrameOrientation(const Ogre::Quaternion& orientation);
   void setMainColor(float r, float g, float b, float a);

include/obstacle_detector/displays/obstacles_display.h → include/processing_lidar_objects/displays/obstacles_display.h

@@ -39,7 +39,7 @@
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>
 
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 #include <tf/transform_listener.h>
 
 #include <rviz/properties/color_property.h>
@@ -48,14 +48,14 @@
 #include <rviz/visualization_manager.h>
 #include <rviz/frame_manager.h>
 
-#include "obstacle_detector/displays/circle_visual.h"
-#include "obstacle_detector/displays/segment_visual.h"
+#include "processing_lidar_objects/displays/circle_visual.h"
+#include "processing_lidar_objects/displays/segment_visual.h"
 #endif
 
 namespace obstacles_display
 {
 
-class ObstaclesDisplay: public rviz::MessageFilterDisplay<obstacle_detector::Obstacles>
+class ObstaclesDisplay: public rviz::MessageFilterDisplay<processing_lidar_objects::Obstacles>
 {
 Q_OBJECT
 public:
@@ -73,7 +73,7 @@ private Q_SLOTS:
   void updateThickness();
 
 private:
-  void processMessage(const obstacle_detector::Obstacles::ConstPtr& obstacles_msg);
+  void processMessage(const processing_lidar_objects::Obstacles::ConstPtr& obstacles_msg);
 
   std::vector< boost::shared_ptr<CircleVisual> > circle_visuals_;
   std::vector< boost::shared_ptr<SegmentVisual> > segment_visuals_;

include/obstacle_detector/displays/segment_visual.h → include/processing_lidar_objects/displays/segment_visual.h

@@ -36,7 +36,7 @@
 #pragma once
 
 #ifndef Q_MOC_RUN
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
 #include <OGRE/OgreVector3.h>
 #include <OGRE/OgreSceneNode.h>
@@ -56,7 +56,7 @@ class SegmentVisual
 
   virtual ~SegmentVisual();
 
-  void setData(const obstacle_detector::SegmentObstacle& segment);
+  void setData(const processing_lidar_objects::SegmentObstacle& segment);
   void setFramePosition(const Ogre::Vector3& position);
   void setFrameOrientation(const Ogre::Quaternion& orientation);
   void setColor(float r, float g, float b, float a);

include/obstacle_detector/obstacle_extractor.h → include/processing_lidar_objects/obstacle_extractor.h

@@ -40,14 +40,14 @@
 #include <std_srvs/Empty.h>
 #include <sensor_msgs/LaserScan.h>
 #include <sensor_msgs/PointCloud.h>
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/segment.h"
-#include "obstacle_detector/utilities/circle.h"
-#include "obstacle_detector/utilities/point_set.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/segment.h"
+#include "processing_lidar_objects/utilities/circle.h"
+#include "processing_lidar_objects/utilities/point_set.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleExtractor
@@ -121,4 +121,4 @@ class ObstacleExtractor
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/obstacle_publisher.h → include/processing_lidar_objects/obstacle_publisher.h

@@ -37,9 +37,9 @@
 
 #include <ros/ros.h>
 #include <std_srvs/Empty.h>
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstaclePublisher
@@ -67,7 +67,7 @@ class ObstaclePublisher
   ros::ServiceServer params_srv_;
   ros::Timer timer_;
 
-  obstacle_detector::Obstacles obstacles_;
+  processing_lidar_objects::Obstacles obstacles_;
   double t_;
 
   // Parameters
@@ -90,4 +90,4 @@ class ObstaclePublisher
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/obstacle_tracker.h → include/processing_lidar_objects/obstacle_tracker.h

@@ -40,12 +40,12 @@
 #include <ros/ros.h>
 #include <armadillo>
 #include <std_srvs/Empty.h>
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
-#include "obstacle_detector/utilities/tracked_obstacle.h"
-#include "obstacle_detector/utilities/math_utilities.h"
+#include "processing_lidar_objects/utilities/tracked_obstacle.h"
+#include "processing_lidar_objects/utilities/math_utilities.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleTracker {
@@ -56,7 +56,7 @@ class ObstacleTracker {
 private:
   bool updateParams(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
   void timerCallback(const ros::TimerEvent&);
-  void obstaclesCallback(const obstacle_detector::Obstacles::ConstPtr new_obstacles);
+  void obstaclesCallback(const processing_lidar_objects::Obstacles::ConstPtr new_obstacles);
 
   void initialize() { std_srvs::Empty empt; updateParams(empt.request, empt.response); }
 
@@ -87,7 +87,7 @@ class ObstacleTracker {
   ros::Timer timer_;
 
   double radius_margin_;
-  obstacle_detector::Obstacles obstacles_;
+  processing_lidar_objects::Obstacles obstacles_;
 
   std::vector<TrackedObstacle> tracked_obstacles_;
   std::vector<CircleObstacle> untracked_obstacles_;
@@ -109,4 +109,4 @@ class ObstacleTracker {
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/panels/obstacle_extractor_panel.h → include/processing_lidar_objects/panels/obstacle_extractor_panel.h

@@ -49,7 +49,7 @@
 #include <QHBoxLayout>
 #include <QGridLayout>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleExtractorPanel : public rviz::Panel
@@ -119,4 +119,4 @@ private Q_SLOTS:
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/panels/obstacle_publisher_panel.h → include/processing_lidar_objects/panels/obstacle_publisher_panel.h

@@ -51,7 +51,7 @@
 #include <QListWidget>
 #include <QGroupBox>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstaclePublisherPanel : public rviz::Panel

include/obstacle_detector/panels/obstacle_tracker_panel.h → include/processing_lidar_objects/panels/obstacle_tracker_panel.h

@@ -49,7 +49,7 @@
 #include <QHBoxLayout>
 #include <QGridLayout>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleTrackerPanel : public rviz::Panel

include/obstacle_detector/panels/scans_merger_panel.h → include/processing_lidar_objects/panels/scans_merger_panel.h

@@ -48,7 +48,7 @@
 #include <QPushButton>
 #include <QLabel>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ScansMergerPanel : public rviz::Panel
@@ -111,4 +111,4 @@ private Q_SLOTS:
   std::string p_target_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/scans_merger.h → include/processing_lidar_objects/scans_merger.h

@@ -43,7 +43,7 @@
 #include <tf/transform_listener.h>
 #include <laser_geometry/laser_geometry.h>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ScansMerger
@@ -100,4 +100,4 @@ class ScansMerger
   std::string p_target_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/utilities/circle.h → include/processing_lidar_objects/utilities/circle.h

@@ -35,10 +35,10 @@
 
 #pragma once
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/segment.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/segment.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class Circle
@@ -66,4 +66,4 @@ class Circle
   std::vector<PointSet> point_sets;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/utilities/figure_fitting.h → include/processing_lidar_objects/utilities/figure_fitting.h

@@ -37,11 +37,11 @@
 
 #include <armadillo>
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/segment.h"
-#include "obstacle_detector/utilities/circle.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/segment.h"
+#include "processing_lidar_objects/utilities/circle.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 /*
@@ -200,4 +200,4 @@ Circle fitCircle(const std::list<Point>& point_set)
   return Circle(center, radius);
 }
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/utilities/math_utilities.h → include/processing_lidar_objects/utilities/math_utilities.h

@@ -39,9 +39,9 @@
 #include <geometry_msgs/Point.h>
 #include <geometry_msgs/Point32.h>
 
-#include "obstacle_detector/utilities/point.h"
+#include "processing_lidar_objects/utilities/point.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 inline double signum(double x) { return (x < 0.0) ? -1.0 : 1.0; }
@@ -98,4 +98,4 @@ inline bool checkPointInLimits(const geometry_msgs::Point32& p, double x_min, do
     return true;
 }
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/utilities/point.h → include/processing_lidar_objects/utilities/point.h

@@ -38,7 +38,7 @@
 #include <cmath>
 #include <iostream>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class Point
@@ -87,4 +87,4 @@ class Point
   double y;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/utilities/point_set.h → include/processing_lidar_objects/utilities/point_set.h

@@ -37,9 +37,9 @@
 
 #include <list>
 
-#include "obstacle_detector/utilities/point.h"
+#include "processing_lidar_objects/utilities/point.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 typedef std::list<Point>::iterator PointIterator;
@@ -54,5 +54,5 @@ class PointSet
   bool is_visible;  // The point set is not occluded by any other point set
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
 

include/obstacle_detector/utilities/segment.h → include/processing_lidar_objects/utilities/segment.h

@@ -37,10 +37,10 @@
 
 #include <vector>
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/point_set.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/point_set.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class Segment
@@ -118,4 +118,4 @@ class Segment
   std::vector<PointSet> point_sets;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects

include/obstacle_detector/utilities/tracked_obstacle.h → include/processing_lidar_objects/utilities/tracked_obstacle.h

@@ -35,10 +35,10 @@
 
 #pragma once
 
-#include <obstacle_detector/Obstacles.h>
-#include "obstacle_detector/utilities/kalman.h"
+#include <processing_lidar_objects/Obstacles.h>
+#include "processing_lidar_objects/utilities/kalman.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class TrackedObstacle {