Frame Transformation using Laser_Geometry package

asked 2017-02-17 10:28:28 -0500

Rayner gravatar image

updated 2017-02-17 10:31:17 -0500


I am just wondering if it is possible to use the laser_geometry package for a fixed-tilt RPLidar A2 2D sensor? If I tilt it at a fixed angle (30deg) , is there a way to project that tilted laser scan vertically downwards to the world frame? I am trying to achieve something like this video: . I tried using the laser_ortho_projector package but it doesn't seem to work, so I am trying out laser_geometry to see if it allows me to do it too. I do not have an imu.

Thanks in advance!

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