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I believe you can run the pointcloud_to_laserscan for any Sensor_msgs/PointCloud2 data by the following (in this case I've matched what you have put above for the vrep):

<launch>
  <!-- Load standalone nodelet -->      
  <node pkg="nodelet" type="nodelet" name="vrep_standalone_nodelet"  args="manager"/>

   <!-- Fake Laser -->
  <node pkg="nodelet" type="nodelet" name="vrep_laser" args="load pointcloud_to_laserscan/CloudToScan vrp_standalone_nodelet">
    <param name="output_frame_id" value="/vrep_frame"/>
    <param name="min_height" value="-0.15"/>
    <param name="max_height" value="0.15"/>
    <remap from="cloud" to="/vrep/PointCloud2"/>
  </node> 

</launch>

Adjust the "output_frame_id", "min_height", and "max_height" as necessary for the vrep Sensor_msgs/PointCloud2 data.

This tutorial has information on nodelets and running standalone nodelets and this turtlebot file shows an example for how to run the pointcloud_to_laserscan nodelet. The code I have above follow these.

Hopefully this helps.

I believe you can run the pointcloud_to_laserscan for any Sensor_msgs/PointCloud2 data by the following (in this case I've matched what you have put above for the vrep):

<launch>
  <!-- Load standalone nodelet -->      
  <node pkg="nodelet" type="nodelet" name="vrep_standalone_nodelet"  args="manager"/>

   <!-- Fake Laser -->
  <node pkg="nodelet" type="nodelet" name="vrep_laser" args="load pointcloud_to_laserscan/CloudToScan vrp_standalone_nodelet">
vrep_standalone_nodelet">
    <param name="output_frame_id" value="/vrep_frame"/>
    <param name="min_height" value="-0.15"/>
    <param name="max_height" value="0.15"/>
    <remap from="cloud" to="/vrep/PointCloud2"/>
  </node> 

</launch>

Adjust the "output_frame_id", "min_height", and "max_height" as necessary for the vrep Sensor_msgs/PointCloud2 data.

This tutorial has information on nodelets and running standalone nodelets and this turtlebot file shows an example for how to run the pointcloud_to_laserscan nodelet. The code I have above follow these.

Hopefully this helps.

I believe you can run the pointcloud_to_laserscan for any Sensor_msgs/PointCloud2 data by the following (in this case I've matched what you have put above for the vrep):

<launch>
  <!-- Load standalone nodelet -->      
  <node pkg="nodelet" type="nodelet" name="vrep_standalone_nodelet"  args="manager"/>

   <!-- Fake Laser -->
Standalone nodelet-->
  <node pkg="nodelet" type="nodelet" name="vrep_laser" args="load pointcloud_to_laserscan/CloudToScan vrep_standalone_nodelet">
args="standalone pointcloud_to_laserscan/CloudToScan" respawn="true">
    <param name="output_frame_id" value="/vrep_frame"/>
    <param name="min_height" value="-0.15"/>
    <param name="max_height" value="0.15"/>
    <remap from="cloud" to="/vrep/PointCloud2"/>
  </node> 

</launch>

Adjust the "output_frame_id", "min_height", and "max_height" as necessary for the vrep Sensor_msgs/PointCloud2 data.

This tutorial has information on nodelets and running standalone nodelets and this turtlebot file shows an example for how to run the pointcloud_to_laserscan nodelet. The code I have above follow these.

Hopefully this helps.