Hi everyone, i want to make 3d map using hokuyo UTM-30 LX.
I downloded loam_continuous package. Firstly i run the launch file provided in this package. And When i play the bagfiles provided then i am able to see pointcloud in rviz but when i connect my laser with laptop and spins it then nothing comes up in rviz. Can somebody tell me step by step what changes i have to make in that? Regards.
#include <ros ros.h=""> #include <tf transform_broadcaster.h=""> #include <dynamixel_msgs jointstate.h=""> #include "sensor_msgs/PointCloud2.h" #include <sensor_msgs jointstate.h="">
#include "laser_assembler/AssembleScans.h"
void transform_Callback(const dynamixel_msgs::JointState& msg) { ROS_INFO("broadcasting transform"); }
int main(int argc, char** argv){ ros::init(argc, argv, "tf_broadcaster");
ros::NodeHandle node; ros::Rate rate(30.0); static tf::TransformBroadcaster br; tf::Transform transform; while(ros::ok()) {
transform.setOrigin( tf::Vector3(0.0, 0.0, 0.0) ); tf::Quaternion q; q.setRPY(0, 0, 0); transform.setRotation(q); br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/tilt_laser", "/laser")); ros::Subscriber sub = node.subscribe("/tilt_controller/command", 1000, transform_Callback);
rate.sleep(); ros::spinOnce(); }
return 0; };
hi did you complete your project. I am doing the same, i want to create 3D model using hokuyo lidar for that using loam_continuous package. I have sample data with me but it is in sensor_msg/LaserScan form so i have to convert it into Sensor_msg/PointCloude form how do i do it? Thank you