Patchwork++ for ROS2 Galactic

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Patchwork++, an extension of Patchwork, is a fast, robust, and self-adaptive ground segmentation algorithm on 3D point cloud.

Revised code for ROS2 Galactic ver.

• revised by Jungha Wang
• revised on 2025.03.12
• code change in 'GroundSegmentationServer.cpp' & 'GroundSegmentationServer.hpp'

0. How to build

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/JunghaWang/patchwork-plusplus_ros2-galactic.git
cd ~/ros2_ws
colcon build --packages-select patchworkpp
source ./install/setup.bash 

1. .mcap ROS2 bag 실행하기 위한 dependency 설치

sudo apt install ros-galactic-rosbag2-storage-mcap

2. patchworkhpp 실행하기

ros2 launch patchworkpp patchworkpp.launch.py visualize:=true use_sim_time:=true cloud_topic:=/lexus3/os_center/points base_frame:=lexus3/os_center_a_laser_data_frame

3. .mcp ROS2 bag 실행하기

Download a sample dataset for ros2: mcap file download [~540MB]

ros2 bag play lexus3-2024-04-05-gyor.mcap -s mcap --loop