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convert VLP16 sensor_msgs/PointCloud2 to sensor_msgs/LaserScan

asked 2016-12-07 07:33:40 -0500

ESeNonFossiIo gravatar image

I would like to test a library that require a sensor _msgs/LaserScan topic. I found this question http://answers.ros.org/question/9450/... but I am pretty new to ROS and I have a lot of difficulties in adapting this solution to my case. Could you help me with this?

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What's the problem in your case? What exactly is the error when you run that launch file?

McMurdo gravatar image McMurdo  ( 2016-12-07 08:50:08 -0500 )edit

I do not know how to write a launch file for the VLP16. I got two default launch files but they are supposed to work with Kinect.

ESeNonFossiIo gravatar image ESeNonFossiIo  ( 2016-12-07 10:27:00 -0500 )edit

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answered 2016-12-07 09:53:47 -0500

kmhallen gravatar image

updated 2016-12-07 19:42:32 -0500

There is Velodyne specific software:
https://github.com/ros-drivers/velody...
http://wiki.ros.org/but_velodyne_proc...

Edit: Added velodyne_laserscan pull request

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I couldn't compile it on my laptop. I got:

but_calibration_camera_velodyne/Calibration.h:53:24: error: ‘isnan’ was not declared in this scope
 return !isnan(value);
ESeNonFossiIo gravatar image ESeNonFossiIo  ( 2016-12-07 10:34:47 -0500 )edit

Using your branch it seems working. I see /scan and the output is ok.

ESeNonFossiIo gravatar image ESeNonFossiIo  ( 2016-12-09 06:07:30 -0500 )edit

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Asked: 2016-12-07 07:33:40 -0500

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Last updated: Dec 07 '16