Revision history [back]

I was searching the answer to my question and there is tfoote's answer that I paid attention : http://answers.ros.org/question/9450/how-to-setup-pointcloud_to_laserscan/

"Sorry the docs were out of date. It has moved from the ni stack to the turtlebot stack. It's a unreviewed/released glue package used in the turtlebot ...."

pointcloud_to_laserscan package belongs to Turtlebot's stack. In the Turtlebot page http://wiki.ros.org/turtlebot_bringup , I found packages as cloud_throttle and others in electric and fuerte distributions that are not listed in indigo and hydro. I would like to say that the packages are not included in last ROS distributions. OR maybe, the packages were renamed ...

Am I right?

I was searching the answer to my question and there is tfoote's answer that I paid attention : http://answers.ros.org/question/9450/how-to-setup-pointcloud_to_laserscan/

"Sorry the docs were out of date. It has moved from the ni stack to the turtlebot stack. It's a unreviewed/released glue package used in the turtlebot ...."

pointcloud_to_laserscan package belongs to Turtlebot's stack. In the Turtlebot page http://wiki.ros.org/turtlebot_bringup , I found packages as cloud_throttle and others in electric and fuerte distributions that are not listed in indigo and hydro. I would like to say that the packages are not included in last ROS distributions. OR maybe, the packages were renamed ...

<launch>
<include file="$(find openni_launch)/launch/openni.launch"></include>
<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"></param>
<remap from="cloud" to="cloud_throttled"></remap>
</node>
</launch>

I was searching the answer to my question and there is tfoote's answer that I paid attention : http://answers.ros.org/question/9450/how-to-setup-pointcloud_to_laserscan/

"Sorry the docs were out of date. It has moved from the ni stack to the turtlebot stack. It's a unreviewed/released glue package used in the turtlebot ...."

pointcloud_to_laserscan package belongs to Turtlebot's stack. In the Turtlebot page http://wiki.ros.org/turtlebot_bringup , I found packages as cloud_throttle and others in electric and fuerte distributions that are not listed in indigo and hydro. I would like to say that the packages are not included in last ROS distributions. OR maybe, the packages were renamed ...
Am I right?

As you advised, I removed nodes and my launch file looks like :

<launch>
<include file="$(find openni_launch)/launch/openni.launch"></include>
<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"></param>
<remap from="cloud" to="cloud_throttled"></remap>
</node>
</launch>

And, the result : https://drive.google.com/open?id=0ByuHYHQ3iNnKT1d1OVJuZktwMllVQk1FVmc3QjlKc1U2MVZ3

So, it is clear that the launch file runs only openni.launch, that it was not my initial task.

I was searching the answer to my question and there is tfoote's answer that I paid attention : http://answers.ros.org/question/9450/how-to-setup-pointcloud_to_laserscan/

"Sorry the docs were out of date. It has moved from the ni stack to the turtlebot stack. It's a unreviewed/released glue package used in the turtlebot ...."

pointcloud_to_laserscan package belongs to Turtlebot's stack. In the Turtlebot page http://wiki.ros.org/turtlebot_bringup , I found packages as cloud_throttle and others in electric and fuerte distributions that are not listed in indigo and hydro. I would like to say that the packages are not included in last ROS distributions. OR maybe, the packages were renamed ...
Am I right?

As you advised, I removed nodes and my launch file looks like :

<launch>
<include file="$(find openni_launch)/launch/openni.launch"></include>
<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"></param>
<remap from="cloud" to="cloud_throttled"></remap>
</node>
</launch>

And, the result : https://drive.google.com/open?id=0ByuHYHQ3iNnKT1d1OVJuZktwMllVQk1FVmc3QjlKc1U2MVZ3

So, it is clear that the launch file runs only openni.launch, that it was not my initial task.

I was trying to follow your advice, but I dont understand what i should write in name=" " and type=" ". I know that I need to run a container for all nodelets, a nodelet for handling frequency of cloud points and a nodelet for cutting horizontal segments. But, I dont know the syntax and what the package I can use.

Here http://answers.ros.org/question/188444/convert-point-cloud-data-into-laserscan-in-ros-indigo/ , the question is the same as mine, but author understood the answers without any explanation, not like me. Dont you know how to use depthimage_to_laserscan ?

<launch>
<include file="$(find openni_launch)/launch/openni.launch"/>
<remap from="image" to="/camera/depth/image_raw"/>
<node pkg="depthimage_to_laserscan" name="depthimage_to_laserscan" type="depthimage_to_laserscan">
</node>
<node pkg="rviz" type="rviz" name="rviz"/>
</launch>