csf_ros

A ROS 2 wrapper for the Cloth Simulation Filter (CSF)^[1], providing ground and non-ground point cloud separation.

Internally, this package uses csf_pcl.

🚀 Usage

Clone the repositories, install dependencies, build, and run the node:

cd ~/csf_ws/src  # Move to your workspace's source directory
git clone https://github.com/mitukou1109/csf_pcl.git
git clone https://github.com/mitukou1109/csf_ros.git
cd ..
rosdep install -iyr --from-paths src
colcon build  # Add options as needed
source ~/csf_ws/install/local_setup.bash
ros2 run csf_ros ground_filter_node

🔄 Interface

Subscribed Topics

Name	Type	Description
/points	sensor_msgs/PointCloud2	Input point cloud

Published Topics

Name	Type	Description
~/ground_points	sensor_msgs/PointCloud2	Ground point cloud
~/off_ground_points	sensor_msgs/PointCloud2	Off-ground point cloud

⚙️ Parameters

Name	Type	Default value	Description
gravity_aligned_frame	string	""	The frame whose z-axis is aligned with gravity. If provided, the input point cloud is transformed into this frame before filtering.
crop_range.[min|max]	vector	[]	Cropping range for the input point cloud. Specify [x, y, z] for min/max points, or leave empty to disable cropping.
cloth_resolution	double	1.0	Cloth grid resolution.
cloth_margin	double	2.0	Margin around the area occupied by the input point cloud.
cloth_rigidness	int	3	Cloth rigidness (see the paper for details). Higher values make the cloth less sensitive to small bumps.
cloth_initial_z_offset	double	0.05	Height offset below the lowest position (minimum z value) of the point cloud, defining where the cloth starts to fall.
gravity	double	9.81	Gravity used in the cloth simulation.
time_step	double	0.1	Time step for each iteration of the simulation.
max_iterations	int	500	Maximum number of iterations. The simulation stops if this count is reached or when the height variation becomes smaller than iteration_termination_threshold.
iteration_termination_threshold	double	0.005	Height variation threshold for terminating the simulation.
enable_post_processing	bool	true	Enable or disable post-processing (see the paper for details).
slope_fitting_threshold	double	0.3	Threshold for slope fitting (corresponds to $h_{\mathrm{cp}}$ in the paper).
classification_threshold	double	0.5	Threshold for classifying ground vs. off-ground points (corresponds to $h_{\mathrm{cc}}$ in the paper).

🧩 Reference

[1] W. Zhang et al., “An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation,” Remote Sensing, vol. 8, no. 6, p. 501, June 2016, doi: 10.3390/rs8060501.

📝 License

This project is licensed under the BSD License.