pointcloud_to_laserscan spatial offset

asked 2019-12-12 05:56:42 -0500

EFernandes gravatar image

updated 2019-12-12 07:29:45 -0500


I'm using pointcloud_to_laserscan to convert a pointcloud to laserscan, however, the result is spatially offset when comparing with the input cloud.

Anyone else experienced this or has any idea on what could be causing this?

Yellow is input cloud, blue is output scan.

image description

<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan" output="screen">
    <remap from="cloud_in" to="/input_pcl"/>
    <remap from="scan" to="/output_scan"/>

    <param name="angle_min" value="-3.1400001049"/>
    <param name="angle_max" value="3.1400001049"/>
    <param name="scan_time" value=" 0.0250000003725"/>
    <param name="range_min" value="0.0"/>
    <param name="range_max" value="30.0"/>
    <param name="angle_increment" value="0.00436332312"/>
    <param name="use_inf" value="false"/>
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Please attach the image directly to your question. I've given you sufficient karma for that.

gvdhoorn gravatar image gvdhoorn  ( 2019-12-12 07:26:11 -0500 )edit

Thank you. Updated.

EFernandes gravatar image EFernandes  ( 2019-12-12 07:30:59 -0500 )edit