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Patchwork++, an extension of Patchwork, is a fast, robust, and self-adaptive ground segmentation algorithm on 3D point cloud.
You should not need any extra dependency, just clone and build:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/url-kaist/patchwork-plusplus.git
cd ~/ros2_ws
colcon build --packages-select patchworkpp
source ./install/setup.bash
There is a demo that executes Patchwork++ with a sample rosbag2 (mcap) file. You can download a sample file using the following command.
Tip
Please install mcap library as follows:
sudo apt install ros-humble-rosbag2-storage-mcap
Then, download a sample dataset for ros2: mcap file download [~540MB]
The only required argument to provide is the topic name so Patchwork++ knows which PointCloud2 to process:
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_frameand then, play rosbag as follows:
ros2 bag play lexus3-2024-04-05-gyor.mcap --loop
Consequently, we can see the results in Rviz:
