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The answer to my question... BIG Thanks! to icehawk101 Installed laser_assembler and downloaded the package on the page that icehawk101 linked. I put that package into my catkin_ws and did catkin_make. From there, I can run (in separate terminals) 1. roscore 2. (the xv_11_laser_driver 3. rosrun laser_assembler laser_scan_assembler _fixed_frame:=laser (not neato_laser since I modified that for hector slam) 4. rosrun laser_assembler periodic_snapshotter 5. rosrun rviz rviz Then add a pointcloud under topic assembled_cloud From here I will try to get a point_cloud2 published and use octomap

The answer to my question... BIG Thanks! to icehawk101 icehawk101

Installed laser_assembler and downloaded the package on the page that icehawk101 linked. I put that package into my catkin_ws and did catkin_make. From there, I can run (in separate terminals) 1. roscore 2. terminals)

1. roscore

2. (the xv_11_laser_driver 3. xv_11_laser_driver

3. rosrun laser_assembler laser_scan_assembler _fixed_frame:=laser (not neato_laser since I modified that for hector slam) 4. slam)

4. rosrun laser_assembler periodic_snapshotter 5. periodic_snapshotter

5. rosrun rviz rviz rviz

Then add a pointcloud under topic assembled_cloud From here I will try to get a point_cloud2 published and use octomap