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2 Laser Mapping [closed]

asked 2013-12-06 06:04:26 -0600


I am using 2 sick lms100 laser range finders for mapping. I am using Hydro. In my launch file I have both scans being sent to the same topic. The original idea was that I could use gmapping, as someone on this forum said that would work as long as the scans were both published to the same topic. Gmapping would hand;e the transforms. This turned out to be incorrect however, gmapping would only take data from one laser.

The next plan was to convert the laser scans into a point cloud and then send that to octomapping. I can use laser_scan_assembler from the laser_assembler package, but it puts out a service, not a topic. It seems that there used to be a node to republish that data, periodic_snapshotter, but apparently that doesn't work with Hydro. I have found the code and tried to convert it to use pointcloud2, but that didn't work. When I tried to make it with catkin it pulled up a bunch of errors. I also tried to make it with the original file which used pointcloud, but I got the same problems.

So, my question is does anyone have a program that will let me subscribe to a service and republish to a topic, or is there an easier way to do this?


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Closed for the following reason the question is answered, right answer was accepted by Icehawk101
close date 2013-12-07 07:31:32

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answered 2013-12-07 07:31:21 -0600

Nevermind, I was able to find a git where periodic_snapshotter had been catkinized, and I updated it to work for PointCloud2.

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Alternately you could use point_cloud_converter to convert to pointcloud2 format Check this out:

redarean gravatar image redarean  ( 2014-02-14 06:08:00 -0600 )edit

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Asked: 2013-12-06 06:04:26 -0600

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Last updated: Dec 07 '13