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Is there a way to transform LaserScan messages from one frame to another? I'd like to keep the message type (i.e., I don't want a PointCloud message, I want to keep LaserScan). I have a tf tree setup and I simply want my to work with my LaserScan message in a different frame.
That´s not easily possible because of the way a scan is represented in the sensors_msgs/LaserScan message. The distance measurements are given in a vector and the position of scan endpoints can be computed using the other fields in the message (angle_min etc.). This representation obviously is only valid when using the actual frame_id of the LIDAR.
The easiest way to transform it to another frame is converting it to a pointcloud using the tools provided in laser_pipeline.
Look at the contents of the message, the representation only is viable when the frame used is the one where the LIDAR´s spinning mirror is. (Nearly) every attempt to put a transformed scan into a LaserScan message will be an approximation and erroneous (apart from some corner cases).
Asked: 2013-11-22 01:38:28 -0500
Seen: 2,622 times
Last updated: Nov 22 '13
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