Add sample and test for pcl/VoxelGrid

Conflicts:
	pcl_ros/CMakeLists.txt

pcl_ros/CMakeLists.txt

@@ -183,6 +183,14 @@ target_link_libraries(convert_pcd_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES
 add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
 target_link_libraries(convert_pointcloud_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
 
+## Downloads
+
+catkin_download(table_scene_lms400.pcd http://download.ros.org/data/pcl/table_scene_lms400.pcd
+  DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/samples/data
+  MD5 546b5b4822fb1de21b0cf83d41ad6683
+)
+add_custom_target(download ALL DEPENDS download_extra_data)
+
 #############
 ## Testing ##
 #############
@@ -191,6 +199,7 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest_gtest(test_tf_message_filter_pcl tests/test_tf_message_filter_pcl.launch src/test/test_tf_message_filter_pcl.cpp)
   target_link_libraries(test_tf_message_filter_pcl ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+  add_rostest(samples/sample_voxel_grid.launch ARGS gui:=false)
 endif(CATKIN_ENABLE_TESTING)
 
 

pcl_ros/samples/config/voxel_grid.rviz

@@ -0,0 +1,169 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Filtered1
+      Splitter Ratio: 0.5
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Raw
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 0; 255; 0
+      Max Intensity: 246
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Raw
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 0; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 0; 255; 0
+      Max Intensity: 246
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Filtered
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_grid/output
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.08107
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.047887
+        Y: -0.164255
+        Z: -0.385388
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.4548
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.73358
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: -10
+  Y: 14

pcl_ros/samples/data/.gitignore

@@ -0,0 +1,2 @@
+*
+!.gitignore

pcl_ros/samples/sample_voxel_grid.launch

@@ -0,0 +1,41 @@
+<launch>
+
+  <arg name="gui" default="true" />
+
+  <arg name="leaf_size" default="0.05" />
+
+  <node name="pcd_to_pointcloud"
+        pkg="pcl_ros" type="pcd_to_pointcloud"
+        args="$(find pcl_ros)/samples/data/table_scene_lms400.pcd 0.033">
+    <remap from="cloud_pcd" to="points" />
+  </node>
+
+  <node name="voxel_grid"
+        pkg="nodelet" type="nodelet"
+        args="standalone pcl/VoxelGrid">
+    <remap from="~input" to="points" />
+    <rosparam subst_value="true">
+      filter_field_name: ''
+      leaf_size: $(arg leaf_size)
+    </rosparam>
+  </node>
+
+  <test test-name="test_voxel_grid"
+        name="test_voxel_grid"
+        pkg="rostest" type="hztest">
+    <rosparam>
+      topic: /voxel_grid/output
+      hz: 20
+      hzerror: 15
+      test_duration: 5.0
+    </rosparam>
+  </test>
+
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find pcl_ros)/samples/config/voxel_grid.rviz">
+    </node>
+  </group>
+
+</launch>