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Connecting laser scanner and pose messages

asked 2011-11-06 20:15:19 -0500

alfa_80 gravatar image

updated 2011-11-06 20:16:12 -0500

How to connect laser scanner and pose messages considering I have underlying timestamp? It is by using TF? Do I need to code explicitly in my source code or just by configure TF in rviz? My goal is actually to build a point cloud using these 2 messages.

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answered 2011-11-07 00:29:13 -0500

DimitriProsser gravatar image

ROS contains functionality for converting LaserScans into PointClouds. Those functions are located in the laser_geometry package. The function transformLaserScanToPointCloud() takes in a LaserScan, a tfListener, and a desired frame_id and converts that LaserScan into a PointCloud in that frame.

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Asked: 2011-11-06 20:15:19 -0500

Seen: 390 times

Last updated: Nov 07 '11