[ros-users] Filters

Peshala Jayasekara peshala_24 at yahoo.com
Wed Apr 7 12:38:34 UTC 2010


Hi Dejan,

Thanks for the feedback. I managed to get my bg subtraction filter to work for 2D backgrounds.
Thanks for the link; I will check it

Peshala 




________________________________
From: Dejan Pangercic <dejan.pangercic at gmail.com>
To: ros-users at code.ros.org
Sent: Wednesday, April 7, 2010 17:41:34
Subject: Re: [ros-users] Filters

Hi Peshala,

just on the side, my colleague has written a box filter some time ago
in case you want to do some really trivial bg subtraction:
http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/mapping/cloud_tools/src/box_filter.cpp?revision=239&view=markup

cheers, D.
On Wed, Mar 31, 2010 at 9:49 PM, Tully Foote <tfoote at willowgarage.com> wrote:
> Peshala,
>
> For question 1 you need to add a plugin description file.  See
> http://www.ros.org/wiki/pluginlib  linked from here
> http://www.ros.org/wiki/filters  You will both need to add this file and
> export it in the manifest.
>
> To run it inside the scan_to_scan_filter_chain node you just need to add
> your filter to the nodes configuration parameters.  See 3.2.2 in
> http://www.ros.org/wiki/filters#Steps_to_create_a_filter  There is specific
> documentation on scan_to_scan_filter_chain node at
> http://www.ros.org/wiki/laser_filters
>
> For question 2, filters can be run in any node.  The filters::FilterChain
> class is the recommended way to instantiate filters in code.  However for
> your purposes the scan_to_scan_filter_chain node is likely the easiest.
>
> Tully
>
> On Wed, Mar 31, 2010 at 12:05 AM, Peshala Jayasekara <peshala_24 at yahoo.com>
> wrote:
>>
>> Dear Ros-Users,
>>
>> I am thinking of writing a background subtraction filter for my incoming
>> laser data through hokoyo_node.
>>
>> Here are my problems.
>>
>> 1) After going through the examples of laser_filters, I thought I can use
>> scan_to_scan_filter_chain node to run "background_subtraction_filter-which
>> is the one I am writing, inside it. However, it gave an error msg saying
>>
>> According to the loaded plugin descriptions the class
>> LaserBackgroundSubtractionFilter with base class type
>> filters::FilterBase<sensor_msgs::LaserScan> does not exist.
>>
>> Is there a way to run a user's filter inside scan_to_scan_filter_chain
>> node?
>>
>> 2) On the other hand, once you write your own filter according to the
>> "Implementing a simple filter" tutorial how do you run it - what node should
>> it be associated with ?
>>
>> Thank you in advance
>> Peshala
>>
>>
>>
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>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
>
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>



-- 
MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
E-Mail: dejan.pangercic at in.tum.de
WWW: http://ias.cs.tum.edu/people/pangercic
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