depthimage_to_laserscan upside down

asked 2015-09-29 14:36:02 -0600

miguel gravatar image

Hi everyone,

I am using depthimae_to_laserscan to convert the asus xtion pro live to a laserscan and the scan is upside down, the left is on the right and the right is on the left??

I am using a raspberry pi for the conversion and i could not get the nodelets working due to the drivers not working with nodelets. So im just launching the package like this:

<launch>
  <node pkg="sensors" type="sensor_node" name="sensors" output="screen">
   </node>

   <node pkg="openni2_camera" type="openni2_camera_node" name="image_stream">
   </node>

   <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="Las$

        <param name="scan_height" value="3.0"/>
        <param name="range_min" value="0.6"/>
        <param name="range_max" value="3.0"/>

        <remap from="image" to="image_stream/depth/image_raw"/>
   </node>

</launch>

Is there a problem with doing this?? Ive tried to use TF to rotate the scan but it only rotates it for the costamap and not gmmaping?

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Comments

Did you modify gmapping to subscribe to the rotated scan instead of the original?

Tanmay gravatar imageTanmay ( 2015-10-20 06:02:38 -0600 )edit

No my image was actually inverted, which i found a fix for. I tried that invert_laser parameter it didn't work.

miguel gravatar imagemiguel ( 2015-10-20 07:26:20 -0600 )edit