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As mentioned by Lorenz on this thread: http://answers.ros.org/question/37794... 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.
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).
Asked: 2015-03-04 19:34:54 -0500
Seen: 198 times
Last updated: Mar 04 '15
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