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How to use "pointcloud_to_laserscan" ?

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

Bill5785 gravatar image

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?

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

ahendrix gravatar image

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)

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Wow, thank you very much. It works!

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

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

Seen: 3,752 times

Last updated: Feb 09 '17