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Hi, I want to do navigation for my mobile robot. I have an IMU, wheel encoder and laser scanner. For this, I guess, I have to convert pointcloud to laserscan. Do you have any idea about this converting. I looked at http://wiki.ros.org/pointcloud_to_las... page. But I didn't understand anything. Please help me about this situation
which is the scanner you are using? The output is usually ideally laserscan msg under /scan topic. If you get pointcloud msg you can do something like this. This is example for using kinect as a fake laser scanner source.
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/camera/depth/depth_registered"/>
<remap from="camera_info" to="/camera/depth/camera_info"/>
<remap from="scan" to="/scan"/>
</node>
Asked: 2018-06-17 11:13:58 -0500
Seen: 922 times
Last updated: Jun 19 '18
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You're going to need to be a little more specific on what you don't understand. Have you tried running the node? Do you understand the difference between a PointCloud2 msg and a LaserScan msg?
In my study, I transformed the laserscan message into a point cloud to obtain a three-dimensional image of the environment and obtained a three-dimensional image of the environment with a vertical scanning plane. But I suppose you need a laserscan message with a horizontal scan plane to navigate.
@stevejp So I know I need to make a conversion to the laser from the point cloud. Am I right?
What sensor are you using? Are you using a 2d lidar, a 3d lidar or a kinect camera? If you have a laser scanner it directly gives output as LasersScan msg which is needed for the navigation stack.
Yes, I use a 2d laser scanner.