shiaoming / stair-perception-ros

stair perception ros package

Introduction

This ROS package is based on the previous stair-perception kit with the following upgrades:

• ROS package
• using a faster organized point cloud segmentation method: PEAC (Plane Extraction using Agglomerative Clustering)
• and stair modeling optimization

Hardware

• Kinect V2
• IMU

Software

• Ubuntu16.04
• ROS kinetic
• libfreenect2
• opencv(ROS included)
• pcl(ROS included)

Build

cd ~/catkin_ws/src
git clone https://github.com/Shiaoming/stair-perception-ROS
cd ~/catkin_ws
catkin_make --pkg plane_msg stair_info_msg -DCMAKE_BUILD_TYPE=Release
catkin_make -DCMAKE_BUILD_TYPE=Release

For more details about this algorithm, please refer:

@article{zhao_adaptive_2019,
	title = {An adaptive stair-ascending gait generation approach based on depth camera for lower limb exoskeleton},
	volume = {90},
	issn = {0034-6748},
	url = {https://doi.org/10.1063/1.5109741},
	doi = {10/ggsxh2},
	number = {12},
	journal = {Review of Scientific Instruments},
	author = {Zhao, Xiaoming and Chen, Wei-Hai and Li, Bing and Wu, Xingming and Wang, Jianhua},
	month = dec,
	year = {2019},
	note = {Publisher: AIP Publishing, LLC},
	pages = {125112}
}

@inproceedings{zhao2018real,
	title={Real-Time Stairs Geometric Parameters Estimation for Lower Limb Rehabilitation Exoskeleton},
	author={Zhao, Xiaoming and Chen, Weihai and Yan, Xing and Wang, Jianhua and Wu, Xingming},
	booktitle={2018 Chinese Control And Decision Conference (CCDC)},
	pages={5018--5023},
	year={2018},
	organization={IEEE}
}

stair-perception-ros's Issues

How to use this pkg?

Hi, thank you for your great work. I want to know how to use this pkg. I have a D435i camera and I want to test this project with it. Is there any instructions that I can follow?

An Issue fixed when running in ubuntu1804 with ros melodic

When using ubuntu 1804, an error will be noted:

error: expected constructor, destructor, or type conversion before ‘;’ token PLUGINLIB_DECLARE_CLASS(

And this is because in the ros melodic, we need to use

PLUGINLIB_EXPORT_CLASS

rather than

PLUGINLIB_DECLARE_CLASS

so we can edit the .cpp file(all the files that pumping out error) from:

PLUGINLIB_DECLARE_CLASS(4 items)

to

PLUGINLIB_EXPORT_CLASS(2 items)

for example:

'
/catkin_ws/src/stair-perception-ROS/peac/src/plane_fitter_ros.cpp:415:5: error: ‘PLUGINLIB_EXPORT_CLASS’ does not name a type
PLUGINLIB_EXPORT_CLASS(peac_ros_nodelet, plane_fitter::peac_ros_nodelet, nodelet::Nodelet);
'

'
PLUGINLIB_EXPORT_CLASS(peac_ros_nodelet, nodelet::Nodelet);
'

see also KumarRobotics/msckf_vio#72

Does the algorithm works for multi-floor or down stairs condition?

First thanks for your work!

I find the algorithm almost failed in multi-floor or down stairs condition.