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[ROS][feat] Allow to remove map points around the trajectory

Julia Sanchez requested to merge feat/CleanAggregatedCloud into master


In the aggregated map (from aggregationNode), remove points that lay at the same place as was the Lidar sensor before. They should belong to a moving object.


Rolling Grid

  • Add EmptyAroundPoint function in RollingGrid to remove all points around an input point in the current map
  • A tool function Erase is added in RollingGrid too, to factorize between ClearPoints and EmptyAroundPoint
  • The construction of the submap and the kdtree are split into two functions. This can be reused in the future if the search feature is not needed.

Aggregation Node

  • Allow to remove points around pose in aggregation
  • Add a distance parameter
  • Add the feature to remove points in pose callback
  • Remove the slice condition for the pose subcriber. Now, the aggregation node always subscribes to the SLAM pose


Minor change to remove unused cout output when verbosity is < 3






catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release


    enable: true            # [bool] To receive and use a wheel encoder (distance measurement)
    relative: true          # [bool] To set the constraint from reference or from previous frame
    weight: 10000.
    input_sampling_ratio: 0.25          # [0-1] Ratio of points from which to extract the keypoints (for computation time issues)


roslaunch lidar_slam slam_ouster.launch outdoor:=false aggregate:=true

rosbag play --clock -d 2 /path/to/fast-filtered.bag /wire_converted:=wheel_odom


The aggregated map before and after the new process is stored here.


  • Camel case everywhere except for ROS variables/parameters
  • Lower case for local variables and lambda functions
  • Upper case for pour members, methods and tool functions (in Utils)
  • Precise namespace when calling a function (or this->X or classe.X)
  • Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
  • Space between if, while, for and parenthesis
  • Space between operators and variables: e.g. a + b
  • Space after ","
  • Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
  • Function names should start with a verb, variable names should start with a name
  • Macros should be between {}
  • Do not use negative boolean (i.e. noJoe)
  • Check minimal size of the types (double -> float -> int -> uint)
  • Check const and ref in functions arguments
  • References should be written "type& name", not "type &name"
  • Update documentation if needed
  • Add MR labels [ROS]/[ROS2]/[PV]
  • If ros/ros2, update task table here
  • Add a comment over each non trivial function in header files
  • Add a header to each new file

What remains to solve

  • Do the same for the SLAM maps
Edited by Julia Sanchez

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