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ADBSCAN ROS2 Node Documentation

How to Build the ADBSCAN ROS2 Node Locally

To build the package, navigate to the edge-ai-suites/robotics-ai-suite/components/adbscan/ROS2_node directory and execute:

colcon build

How to run the ADBSCAN ROS2 node

To set up the environment for running the ROS 2 nodes associated with the ADBSCAN package, please navigate to the following directory to source the setup.bash file: edge-ai-suites/robotics-ai-suite/components/adbscan/ROS2_node/install/

cd edge-ai-suites/robotics-ai-suite/components/adbscan/ROS2_node/install/
source setup.bash

For RealSense camera input, execute:

ros2 launch adbscan_ros2 play_demo_realsense_launch.py

For Lidar input, execute:

ros2 launch adbscan_ros2 play_demo_lidar_launch.py

ADBSCAN ROS2 Node Input Description

The input data is passed into the ROS2 node through a ROS2 topic defined in the ROS2 configuration file by the parameter Lidar_topic. You can edit this parameter for a customized name.

The configuration files are located in the edge-ai-suites/robotics-ai-suite/components/adbscan/ROS2_node/config directory.

  • 2D Lidar Input:

    • File name: adbscan_sub_2D.yaml
    • Message type: sensor_msgs::msg::LaserScan

  • 3D Lidar Input:

    • File name: adbscan_sub_3D.yaml
    • Message type: sensor_msgs::msg::PointCloud2

  • Realsense Input:

    • File name: adbscan_sub_RS.yaml
    • Message type: sensor_msgs::msg::PointCloud2

ADBSCAN ROS2 node output description

The output is published to the ROS2 topic obstacle_array, and the message format is nav2_dynamic_msgs::msg::ObstacleArray.

To view the messages being published to the obstacle_array topic, you can use the following command:

ros2 topic echo /obstacle_array

How to Visualize the Output in RViz

  1. Launch RViz:

    • Open a terminal and start RViz by typing: 
      rviz2

  2. Subscribe to the Topic:

    • In RViz, add a new display by clicking on Add in the Displays panel.
    • Select MarkerArray from the list of available display types.