Clustering Node

Overview

ROS2 node for performing GPU-based point cloud clustering and optional filtering or segmentation.

Features

• Voxel-based downsampling
• Dimension filtering
• Plane segmentation
• Configurable via YAML parameters

Requirements

• CUDA toolkit
• PCL
• ROS2 Humble

Configuration

• Enables or disables Z filtering, segmentation, voxel grid.
• Min/max cluster size, voxel sizes, and distance thresholds.

Build

cd cuda_clustering colcon build

Usage

Edit parameters in config/clustering.yaml.

Run

source install/setup.bash ros2 launch clustering cuda_clustering_launch.py

TO FIX

1. The clustering stops working while the filter on Z is activated