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The height should be specified in the Z coordinate for a non camera sensor. See REP 103 for specifics.

It's not clear to me exactly which pointcloud from the Kinect the pointcloud_to_laserscan is supposed to subscribe to, but it seems unlikely we'd want to subscribe and publish data in the z-forward camera frame as opposed to the z-up frame used everywhere else.

If pointcloud_to_laserscan is doing silly things by assuming it's in a camera coordinate frame (i.e. y-axis is down), then that might be worth filing a bug (at least to document this convention on the pointcloud_to_laserscan wiki page.

The height should be specified in the Z coordinate for a non camera sensor. See REP 103 for specifics.specifics on coordinate frame conventions used throughout ROS.

It's not clear to me exactly which pointcloud from the Kinect the pointcloud_to_laserscan is supposed to subscribe to, but it seems unlikely we'd want to subscribe and publish data in the z-forward camera frame as opposed to the z-up frame used everywhere else.

If pointcloud_to_laserscan is doing silly things by assuming it's in a camera coordinate frame (i.e. y-axis is down), then that might be worth filing a bug (at least to document this convention on the pointcloud_to_laserscan wiki page.