Problem launching pointcloud to laserscan

pointcloud_to_laserscan

asked 2011-07-14 15:42:06 -0600

lakshmen
81 ●14 ●17 ●26

updated 2011-07-21 02:15:10 -0600

I am not able to launch the pointcloud to laserscan. I did this following steps:

1)launched the openni_camera by typing roslaunch openni_camera openni_node.launch

2)launched the pointcloud to laserscan by typing roslaunch pointcloud_to_laserscan kinect_laser.launch

3)ran rviz by typing rosrun rviz rviz

I am able to see the point cloud but I am not able to see the laser_scan. I was referring to this question,http://answers.ros.org/question/417/how-to-setup-pointcloud_to_laserscan. I am supposed to see /scan topic but i am not able to see it.

Am i supposed to change /openni_depth_frame?

Or what steps i shld take? Any suggestions?

Just like to check with you all.. is this sometime like this i should get?C:\fakepath\Screenshot-RViz-1.png

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Comments

yep this is what pointcloud_to_laserscan should do. If with "don't get the whole plane" you mean construct a map using the laser scan information you'lll like to read the gmapping tutorials.

Bemfica ( 2011-07-21 04:22:04 -0600 )edit

what i am supposed to get is a set of points not a laser scan(or a plane).Am i right to say that?

lakshmen ( 2011-07-21 05:19:07 -0600 )edit

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2

answered 2011-07-15 05:40:23 -0600

Bemfica
482 ●9 ●17 ●25

You need to create a launch file which could look like this:

<launch>
  <!-- kinect nodes -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

save as test.launch and roslaunch it. Then open rviz, set the fixed frame to /openni_depth_frame and add a 'Laser Scan' display. You will see the /scan topic. Just select it and should work fine.