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How to publish single sensor_msgs/LaserScan over ROS from two sick_tim sensor

asked 2015-03-04 19:34:54 -0500

naka gravatar image

How can I publish single sensor_msgs/LaserScan over ROS from two sick_tim sensor.

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answered 2015-03-04 22:24:12 -0500

Valts gravatar image

As mentioned by Lorenz on this thread: It seems that you can simply publish on the same topic from multiple laser scan sources, since each laser scan message includes frame and time information to differentiate. For this you have to set up your URDF correctly.

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answered 2015-03-04 20:23:55 -0500

ahendrix gravatar image

You can't, and you probably don't need to.

The ROS LaserScan message represents a scan in polar coordinates - as an angle and an offset from a center point. Since your laser scanners don't have the same center point, it doesn't make sense to put data from both lasers into the same message.

If you describe your robot and your application in more detail, we can probably help you find a better way to do what you're trying to do. (For example, the navigation stack supports multiple lasers).

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I want to move my robot with the navigation stack! The sick_tim sensors are installed in front and back of the robot.

naka gravatar image naka  ( 2015-03-04 22:12:51 -0500 )edit

If you're just trying to use your lasers with the navigation stack, you should use two separate topics and configure two observation sources for navigation.

ahendrix gravatar image ahendrix  ( 2015-03-04 23:06:50 -0500 )edit

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Asked: 2015-03-04 19:34:54 -0500

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Last updated: Mar 04 '15