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You might want to look at the laser_assembler package that provides nodes that listen to streams of scans and then assemble them into a larger 3D Cartesian coordinate (XYZ) point cloud.

You might want to look at the laser_assembler package that provides nodes that listen to streams of scans and then assemble them into a larger 3D Cartesian coordinate (XYZ) point cloud. cloud.

You might want to look at the laser_assembler package that provides nodes that listen to streams of scans and then assemble them into a larger 3D Cartesian coordinate (XYZ) point cloud.

We have pretty much the same setup on our robot - tilting Dynamixel motor with a Hokuyo laser attached to it. I have written a node that interfaces with pr2_laser_snapshotter node to get the cloud each time the laser does a full profile (goes up and down). There's nothing terribly complicated in both of those nodes, one just tells the other when it's at the beginning/end of profile and the other calls out to laser_assembler to get the cloud at that point in time. You can write your own node if you have different requirements.