Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

-2

How does cloud_to_laserscan.cpp work

pointcloud_to_laserscan

asked 2011-07-25 15:10:09 -0500

lakshmen
81 ●14 ●17 ●26

updated 2011-07-27 07:27:38 -0500

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

I have some more qns regarding cloud_to_scan.cpp. the post was previously posted[http://answers.ros.org/question/1561/doubts-about-pointcloud-to-laser-scan] but it was not answered. I am in need of urgent help.

Qn 1)if (output->ranges[index] * output->ranges[index] > range_sq) output->ranges[index] = sqrt(range_sq);, what is this statement trying to do.. not that sure...

qn 2) is the x, y and z in metres?or what are the units for the x,y and z?

qn 3) why is the angle = -atan2(x,z) and not angle = -atan2(z,x)

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2011-07-25 19:37:37 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

All your questions can be answer by reviewing REP 103 Standard Units of Measure and Coordinate Conventions

edit flag offensive delete link

Comments

sorry, from REP103, qn 2 was answered but not qn 1 and 3... or maybe i can't find it... need more explaination. sorry.

lakshmen ( 2011-07-27 19:03:42 -0500 )edit

At least 3 is also answered. Look at the coordinate axis definitions in the REP and the definition of the tangent function as found in your favorite math book. 1 apparently just limits range readings to some maximum.

Lorenz ( 2011-07-27 21:53:41 -0500 )edit

add a comment

Question Tools

Stats

Asked: 2011-07-25 15:10:09 -0500

Seen: 511 times

Last updated: Jul 27 '11

How does cloud_to_laserscan.cpp work edit

1 Answer

Comments

Question Tools

Stats

Related questions

How does cloud_to_laserscan.cpp work