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I have written a laser scan filter based off of geometric correction. It is doing well, so I'd like to try mapping with it. After the scan is filtered, it is stored in a pcl::PointCloud<pcl::PointXYZ> PointCloud. I need to take this and convert it to a laser scan for gmapping. Any helpful hints as to how I go about this?
Have a look at point_cloud_to_laserscan.
All you need to do is publish your pcl::PointCloud use the point_cloud_to_laserscan node to get the corresponding laser scan. In the ros package turtlebot_bringup you'll find an example launch file that converts Kinect point clouds to laser scans.
Have a look at topic remapping: http://www.ros.org/wiki/Remapping%20Arguments
The LaserScan message type is fairly self-explanitory; you need to know the angular increment of your points, and the ranges, and that's about it.
The issue is the fact that I'm manipulating scan data. I'm sure I could just copy the stuff from the laser, but the time stamp will be different. Also, I know that there's a pointcloud_to_laserscan node. Can I use this during the run to convert the pointclouds? If so, how?
Asked: 2012-04-11 11:58:07 -0600
Seen: 1,395 times
Last updated: Apr 11 '12
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