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laser_assembler generates empty data

asked 2014-03-02 19:47:41 -0600

levi gravatar image

updated 2014-03-04 03:56:59 -0600

Hi, guys

I'm trying to assemble the laser lines into a big pointcloud2.

First I transformed the laser data into pointCloud2, which can be seen in rviz. But after assembling, no data is published. I have also modified the launch file. Please help me.

// Create a publisher for the clouds that we assemble
pubAssembledPointCloud2 = nh.advertise<sensor_msgs::PointCloud2> (assemPC2Topic, 1);

// Assemble the pointcloud2 from laser
ros::service::waitForService("assemble_scans2");
// Create the service client for calling the assembler
client = nh.serviceClient<AssembleScans2> ("assemble_scans2");

firstTime = true;
while(ros::ok()) {   

    // Start the timer that will trigger the processing loop (timerCallback)
    timer = nh.createTimer(ros::Duration(8.0), &LaserCloud::timerCallback, this);
    ros::spin();
}

AssembleScans2 srv;
srv.request.begin = e.last_real;
srv.request.end = e.current_real;

if(client.call(srv)) {
    pubAssembledPointCloud2.publish(srv.response.cloud);
    ROS_INFO("Published pointcloud2 with %u points", (uint32_t)(srv.response.cloud.height*srv.response.cloud.width));
}
else {
    ROS_ERROR("Error making service call\n");
}

Thanks

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answered 2014-03-02 20:21:49 -0600

MarkyMark2012 gravatar image

Is

git clone https://github.com/ros-perception/laser_assembler.git

What you mean - i.e get a local copy of the laser_assembler code base?

Mark

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Thank you. I'm quite new to ROS so some silly questions: 1. In what directory to git clone? 2. After git clone, what's next?

levi gravatar imagelevi ( 2014-03-02 20:46:15 -0600 )edit

You would put that in your workspace. However if you are using ubuntu laser-assembler is released as a debian package, so unless you want to modify that code, just install it via apt-get.

dornhege gravatar imagedornhege ( 2014-03-03 00:53:41 -0600 )edit

thank you. I can use it now. But I it publish the empty list after assembling

levi gravatar imagelevi ( 2014-03-04 03:45:01 -0600 )edit

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Asked: 2014-03-02 19:47:41 -0600

Seen: 276 times

Last updated: Mar 04 '14