Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

You need to know the 3d transform from Lidar2 to Lidar1. Use that to transform each point in PointCloud2 into the frame used by PointCloud1. Append these new points to PointCloud1. If the robot is in motion, this simple algorithm assumes both PointClouds were captured at nearly the same time.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.