How to simulate movement

Hey guys,

I have an XV-11 laser producing LaserScan data that I can see in rviz. I want to simulate rotation(roll) so that that laser scan I get is morphed into a 3D point cloud. I already have laserassembler working and periodicsnapshotter working so that every 5 seconds I get a point cloud. I've been trying to figure out how to change the odometry and/or pose so that ROS thinks the laser is rolling, but I can't seem to undertand. Can someone please give me ANY hints or information on how I would go about doing this?

Thank you in advance

Asked by ateator on 2016-06-21 12:21:56 UTC

Comments

To be clear, I have got robot_pose_publisher running, and I've edited it so that the x value in pose.orientation.x is a random number between 1 and 10. This still doesn't change either the laserscan or point cloud data. This change is reflected in rostopic echo robot_pose

Asked by ateator on 2016-06-21 12:56:55 UTC

I have now successfully used odometry_publisher to add and simulate odometry changes (movement) in X Y and Z planes. Unfortunately, this does not affect my periodic_snapshotter, thus the point cloud and laserscan data stays the same. Please help!

Asked by ateator on 2016-06-21 15:00:22 UTC