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It sounds like the laser_assembler package will do what you're looking for.

It looks like this package has two things that you'll need to set up before you can use it: * A ROS node to publish laser scan messages. It looks like you already have this. * A ROS node to publish the transform (ie rotation) of your laser scanner, using the TF library.

There aren't a lot of great tutorials for how to set up TF, but this seems the closest to your robot: http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher , since it shows to to do both the differential drive and the rotational joints.

If you haven't already, I'd recommend that you do the other URDF tutorials too: http://wiki.ros.org/urdf/Tutorials

Once you've done those, it should be relatively easy to come back and do the laser assembler tutorial: http://wiki.ros.org/laser_assembler/Tutorials/HowToAssembleLaserScans

It sounds like the laser_assembler package will do what you're looking for.

It looks like this package has two things that you'll need to set up before you can use it: * it:

  • A ROS node to publish laser scan messages. It looks like you already have this. * this.
  • A ROS node to publish the transform (ie rotation) of your laser scanner, using the TF library.

There aren't a lot of great tutorials for how to set up TF, but this seems the closest to your robot: http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher , since it shows to to do both the differential drive and the rotational joints.

If you haven't already, I'd recommend that you do the other URDF tutorials too: http://wiki.ros.org/urdf/Tutorials

Once you've done those, it should be relatively easy to come back and do the laser assembler tutorial: http://wiki.ros.org/laser_assembler/Tutorials/HowToAssembleLaserScans