LiDAR-Segmentation

Segmentation of point cloud data from LiDAR.
The data is from udacity. I have used DBSCAN&RANSAC clustering, Voxel grid down sampling in the pipeline.
There's a for converting point cloud format between Open3D and ROS:
- convertCloudFromOpen3dToRos
- convertCloudFromRosToOpen3d

Rviz Topic output:

/plane_points

/rslidar_points

/sampled_points

/segment_points

Setup Locally:

Enter to project directory

cd LiDAR-Segmentation

Source the workspace

source devel/setup.bash

Run the launch files

roslaunch fcw_segment frame_pub.launch

roslaunch fcw_segment main.launch

Nb:- If you Still got an error then remove build and devel folders and run the command catkin_make. Now follow the above steps