Laser Assembler with Hokuyo Utm-30lx

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A simple launch file that starts the Hokuyo driver and the assembler would look something like this. First, launch the Hokuyo laser:

  <node type="hokuyo_node" pkg="hokuyo_node" name="hokuyo_node/>

Verify that you are getting correct laser data. To do that, you can run rviz, add a LaserScan display, and set the fixed frame option to "laser".

The second step is launching the assembler. Both the hokuyo node and the assembler use scan as the default topic, so no need to remap.

  <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler"> 
    <param name="fixed_frame" type="string" value="base_link"/> 
  </node>

The last step is to add something that is publishing the correct transform between the base_link and the laser frames.