Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to use "pointcloud_to_laserscan" ?

asked 2017-02-09 21:52:30 -0500

Bill5785
141 ●16 ●20 ●27

updated 2017-02-09 21:55:12 -0500

I can view my velodyne point cloud in Rviz but I want to convert the 3-D data into 2-D laserscan. When I run

rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node

I can see the there is a new topic /scan but I cannot see any laserscan image in Rviz. I found there is no input to the node (not subscribing from anything) as its description says http://wiki.ros.org/pointcloud_to_las... by

rosrun rqt_graph rqt_graph

Can anyone please tell me how to solve it?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-02-09 23:36:46 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

rqt_graph may not show sources or sinks that aren't connected, if you have that option disabled.

From the documentation it looks like the pointcloud_to_laserscan_node takes it input on the cloud_in topic, so you should remap that to the pointcloud output topic from your velodyne.

rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/your_velodyne_points

(replace /your_velodyne_points with the pointcloud topic from your velodyne)

edit flag offensive delete link

Comments

Wow, thank you very much. It works!

Bill5785 ( 2017-02-09 23:56:18 -0500 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2017-02-09 21:52:30 -0500

Seen: 4,734 times

Last updated: Feb 09 '17

How to use "pointcloud_to_laserscan" ? edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to use "pointcloud_to_laserscan" ?