How to use pointcloud_to_laserscan with an angled sensor

asked 2017-08-15 08:03:55 -0500

sykatch gravatar image

updated 2017-08-16 03:06:10 -0500


I'm using the pointcloud_to_laserscan package (also the depthimage_to_laserscan one) to get a fake laser scan from a point cloud. Everything is ok while the sensor is parallel to the ground. But what if I want to turn it a little bit down, so there will be a different angle? The pointcloud_to_laserscan wiki says 'However, if your sensor is angled, you may find this node to be very helpful!'. So my question is, how to use this package if my sensor is angled? Basically I need a scan from the same height of the scene no matter the angle of sensor (the angle will be manually changed during its run). Is this even possible somehow just with the package configuration and publishing some transformations according to the angle?

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The pointcloud_to_laserscan node allows to specify the min and max height of points with respect to a specific frame, by specifying the appropriate frame in the launch file and creating the transform between that frame and the sensor frame (which indicates the angle) you should be able to use an angled sensor

Mnzs1701 gravatar image Mnzs1701  ( 2022-10-13 00:38:28 -0500 )edit