ADBSCAN Algorithm with RPLIDAR Input Demo

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

It outputs to the obstacle_array topic of type nav2_dynamic_msgs/ObstacleArray.

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

sudo chmod +x /opt/ros/humble/share/adbscan_ros2/scripts/demo_lidar.sh
/opt/ros/humble/share/adbscan_ros2/scripts/demo_lidar.sh

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

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