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It seems like your point cloud readings are rejected to due some reason and all your laser message remains as INF.

It may be helpful to follow rqt_console output of pointcloud_to_laserscan_node in DEBUG level to see the reasons for rejections. There may be an order of magnitude problem with your ranges and readings.

It seems like your point cloud readings are rejected to due some reason and all your laser message remains as INF.

It may be helpful to follow rqt_console output of pointcloud_to_laserscan_node in DEBUG level to see the reasons for rejections. There may be an order of magnitude problem with your ranges and readings.

Update:

There may be a transformation problem with your frames. RGBD sensors should use _optical frames which has different axis orientation than the standard one. Please check REP-103 on this. If your "kinect2_link" frame is an optical frame, then you will get your laser scan on vertical plane since pointcloud_to_laserscan generates scans on x-y plane. This also explains the reason that when you change max_height your range is affected (z axis is forward on optical frames).