csf_ground_segmentation

A ROS1 (Noetic) package for ground segmentation using the Cloth Simulation Filter (CSF) method.

Features

• Subscribes to a point cloud topic and transforms it to the base_link frame
• ROI filtering (z: [-2,3]m, can be adjusted)
• Uses CSF (Cloth Simulation Filter) for ground segmentation
• Publishes segmented ground and obstacle point clouds

Topics

• Subscribed:
  • /camera/depth/color/points (sensor_msgs/PointCloud2, configurable)
• Published:
  • /ground_points (sensor_msgs/PointCloud2)
  • /obstacle_points (sensor_msgs/PointCloud2)

Usage

1. Make sure you have ROS Noetic and PCL installed.
2. Build the package:

   cd ~/catkin_ws
   catkin_make
   source devel/setup.bash

3. Run the node:

   rosrun csf_ground_segmentation csf_ground_segmentation_node

4. Visualize /ground_points and /obstacle_points in RViz.

Note

• The CSF library is already embedded in this project. No additional compilation or linking is required.

License

MIT

Third-party Notice

This project directly includes source code from the CSF library (https://github.com/jianboqi/CSF), the library uses Apache-2.0 license. Please refer to the CSF repository for license details.