ADBSCAN Algorithm with 2D RPLIDAR Input Demo#

This tutorial describes how to run the ADBSCAN algorithm from Autonomous Mobile Robot using 2D RPLIDAR input.

Prerequisites#

Complete the Getting Started Guide before continuing.

Install#

Install ros-humble-adbscan-ros2 Deb package from Intel® Autonomous Mobile Robot APT repository

sudo apt update
sudo apt install ros-humble-adbscan-ros2

Install the following package with ROS 2 bag files in order to publish point cloud data from 2D LIDAR or Intel® RealSense™ camera

sudo apt install ros-humble-bagfile-laser-pointcloud

Run the demo with 2D LIDAR input#

ros2 launch adbscan_ros2 play_demo_lidar_launch.py

Expected output: ADBSCAN prints logs of its interpretation of the LIDAR data coming from the ROS 2 bag.

../../../../../../../_images/adbscan_demo_lidar.jpg

One can view the list of running ROS 2 nodes by typing ros2 node list in a terminal.

../../../../../../../_images/adbscan_node_list.jpg

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.