Release v1.0.0 - ROS 2 Humble

robot_self_filter v1.0.0 - ROS 2 Humble Release

Overview

First stable release of the robot_self_filter package for ROS 2 Humble, featuring comprehensive point cloud filtering capabilities for robot self-occlusion.

Key Features

• Multi-sensor support: Compatible with Ouster, Hesai, Robosense, and Pandar LiDAR sensors
• Dynamic filtering: Real-time collision shape updates based on robot joint states
• Configurable shapes: Support for spheres, boxes, and cylinders with customizable padding
• Visualization tools: Debug collision shapes via MarkerArray messages
• Performance optimized: Efficient PCL-based point cloud processing

Improvements in v1.0.0

• Complete ROS 2 port from original ROS 1 implementation
• Enhanced documentation with comprehensive README
• Clear configuration examples for different robot types
• Detailed troubleshooting guide
• Complete parameter documentation
• Support for multiple LiDAR sensor types

Compatibility

• ROS 2 Distribution: Humble Hawksbill
• Ubuntu: 22.04 LTS (Jammy)
• Build System: ament_cmake

Installation

# Clone the repository
cd ~/ros2_ws/src
git clone -b v1.0.0 https://github.com/leggedrobotics/robot_self_filter.git

# Build
cd ~/ros2_ws
colcon build --packages-select robot_self_filter
source install/setup.bash

Quick Start

ros2 launch robot_self_filter self_filter.launch.py \
    robot_description:="$(xacro /path/to/robot.urdf.xacro)" \
    filter_config:=/path/to/filter_config.yaml \
    in_pointcloud_topic:=/lidar/points \
    out_pointcloud_topic:=/lidar/points_filtered

Documentation

See the README.md for complete documentation including:

• Configuration guide
• Parameter descriptions
• Troubleshooting tips
• Example configurations

Contributors

• Maintainer: Lorenzo Terenzi (@Idate96) lterenzi@ethz.ch
• ROS 2 Author: Lorenzo Terenzi
• Original ROS 1 Author: Eitan Marder-Eppstein

License

BSD License