yak_ros

A ROS frontend for the Yak TSDF library.

Demo

This package contains a simulated image generator node and a launch file to provide a self-contained demonstration of TSDF reconstruction from streaming depth images.

The demo depends on the gl_depth_sim package to provide simulated depth images.

The demo node depends on external packages that aren't required by the core yak_ros node, so compilation of the demo node is skipped by default. To build the demo, pass the BUILD_DEMO flag to catkin as True:

catkin build --cmake-args -DBUILD_DEMO=True

After re-sourcing the workspace, start the demo from the provided launch file:

roslaunch yak_ros demo.launch

Usage

The yak_ros node provides 3 services and is a subscriber to 2 topics, which can be used to interact with it.

Topics

1. /yak_ros/input_depth_image: Listener for published depth images.
2. /yak_ros/input_point_cloud: Listener for published point clouds.

Services

1. /yak_ros/generate_mesh: Used to generate the output mesh to the provided path.
2. /yak_ros/reset_tsdf: Resets the TSDF Volume (= delete all provided depth images / point clouds)
3. /yak_ros/update_params: Used to update the TSDF Volume Params.

Visualization

A bounding box around the area of the TSDF Volume is published under the /tsdf_node/visualization_marker marker and can be viewed in rviz.