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1 | initial version |
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.
2 | No.2 Revision |
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).