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Clarification on sensor_msgs/Laserscan.msg

asked 2017-08-16 15:44:22 -0500

apples92 gravatar image

I am wanting to extract features from laser data I have acquired using ROS from Pepper in the form of a sensor_msgs/Laserscan.msg.

However I am struggling to understand certain parts of the message.

Firstly, which might be obvious, am I right to assume that I should disregard data which are in not within the range specified by range_min and range_max, in this case, 0.1000000015 and 1.5 metres, respectively?

Also, I am wanting to plot this data, so that I can get a visualization the field of view of the laser (possible wrong terminology). Ie where the laser beams managed to reached in relation to the actual robot.

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answered 2017-08-17 19:51:28 -0500

Ed Venator gravatar image

Firstly, which might be obvious, am I right to assume that I should disregard data which are in not within the range specified by range_min and range_max, in this case, 0.1000000015 and 1.5 metres, respectively?

Yes, that's the convention.

Also, I am wanting to plot this data, so that I can get a visualization the field of view of the laser (possible wrong terminology). Ie where the laser beams managed to reached in relation to the actual robot.

There is a plugin to view sensor_msgs/LaserScan in Rviz.

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answered 2017-08-18 01:26:55 -0500

gvdhoorn gravatar image

Please see #q198843, and the sensor_msgs/LaserScan documentation.

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Asked: 2017-08-16 15:44:22 -0500

Seen: 348 times

Last updated: Aug 18 '17