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Getting a constrained point cloud from a laser_scan

asked 2011-05-30 15:45:08 -0500

ravi gravatar image


I am new in ROS and working on extracting constrained point cloud either from laser_scan directly or by first converting the laser_scan into point cloud and then constrained the point cloud to get the desired point cloud.

I am using laser.bag as laser_scan data and I am trying to change the angle_min and max from the already set values to a new desired values, for this I am using a new pointer to input from laser.bag and changed the angle value, but I am unable to get required result.

The angle min and max is -0.84... and 0.8... and I have changed it to -0.45 and 0.45 to get only point cloud in between the angle.

Please help me.

(the constrained is like getting only point cloud up to 10meter range from robot or getting point cloud only like between -45 to 45 while laser_scan is from -90 to 90).

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answered 2011-05-30 17:24:52 -0500

Bart gravatar image

In the turtlebot stack there is a pointcloud_to_laserscan package that includes a nodelet cloud_to_scan that iterates through a pointcloud to produce a laserscan. This is a bit backwards to what you are trying to do but with a bit of mixing things around it should be a good start.

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Asked: 2011-05-30 15:45:08 -0500

Seen: 180 times

Last updated: May 30 '11