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turtlebot: pointcloud_to_laserscan | turtlebot_bringup | turtlebot_description | turtlebot_driver | turtlebot_node

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

turtlebot: pointcloud_to_laserscan | turtlebot_bringup | turtlebot_description | turtlebot_driver | turtlebot_node

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

turtlebot: pointcloud_to_laserscan | turtlebot_bringup | turtlebot_description | turtlebot_driver | turtlebot_node

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

eddiebot: eddiebot_bringup | eddiebot_description | eddiebot_driver | eddiebot_node

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

perception_pcl: pcl_conversions | pcl_msgs | pcl_ros | pointcloud_to_laserscan

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

perception_pcl: pcl_conversions | pcl_msgs | pcl_ros | pointcloud_to_laserscan

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

If you're trying to create a virtual laserscan from your RGBD device, and your sensor is forward-facing, you'll find depthimage_to_laserscan will be much more straightforward and efficient since it operates on image data instead of bulky pointclouds. However, if your sensor is angled, or you have some other esoteric use case, you may find this node to be very helpful!

Please check the FAQ for common problems, or open an issue if still unsolved.

Node

pointcloud_to_laserscan_node

pointcloud_to_laserscan_node takes a point cloud and generates a 2D laser scan based on the provided parameters.

Subscribed Topics

cloud_in (sensor_msgs/PointCloud2)

Published Topics

scan (sensor_msgs/LaserScan)

Parameters

~min_height (double, default: 0.0) ~max_height (double, default: 1.0) ~angle_min (double, default: -π/2) ~angle_max (double, default: π/2) ~angle_increment (double, default: π/360) ~scan_time (double, default: 1.0/30.0) ~range_min (double, default: 0.45) ~range_max (double, default: 4.0) ~target_frame (str, default: none) ~concurrency_level (int, default: 1) ~use_inf (boolean, default: true)

Nodelet

Same API as node, available as pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.


2019-11-09 13:02