i am trying to generate point cloud messages that not only contain 3D point information but also information on the belonging object class/category(e.g. Wall, Table, Chair, Door) for each point.
I thought about creating a custom ros message that in a addition to the pc2-msg would contain an int array indexed just like the pc2. in gazebo i thought i indicate the class of an object model in the sdf file via an additional parameter “class” valued with an int. as a last step i would then need to write plugins for the models to contain this information but also a plugin for the sensor that creates this message.
the problem seems to be that i cannot handle the process of laserscan creation (the actual ray reading/interpretation) myself. which makes this “elegant” solution difficult without build gazebo from sources and adding this functionality.
am i right?
gazebo features intensity for each ray on an object and i could use this as a work around like so: https://ieeexplore.ieee.org/document/… (scientific paper)
still i don’t think it is an elegant solution to the problem… thoughts?