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pointcloud_to_laserscan gives only inf ranges

asked 2020-06-02 08:41:53 -0600

erdmhn gravatar image

updated 2020-06-02 10:13:28 -0600

Hi i am using a simulator and getting Lidar data as PointCloud2 from there. I want to use hector-slam and as i know we need data as laserscan for it. So i wanted to use pointcloud_to_laserscan.

as first i got this error: Can't transform pointcloud from frame velodyne to camera_link at time 1588865937.438738688, reason: 0

then i tried use tf:

rosrun tf static_transform_publisher 0 0 0 0 0 0 camera_link velodyne 100

(i really do not know what the args must be so i give 0 0 0 0 0 0 it can be the problem but idk what they have to be)

EDIT: if i disable target frame and tf it still gives just inf values

and now i am getting this values with this tf:

header: 

  seq: 18

  stamp: 
    secs: 1591103986

    nsecs:  40817152

  frame_id: "camera_link"

angle_min: -1.57079994678

angle_max: 1.57079994678

angle_increment: 0.00870000012219

time_increment: 0.0

scan_time: 0.333299994469

range_min: 0.10000000149

range_max: 15.0

ranges: [inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf ...
(more)
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answered 2020-06-02 10:33:53 -0600

erdmhn gravatar image

Solved the problem with rqt_console debugging. The problem was rejected heights , heights looks '-' values in pointcloud2 data

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Asked: 2020-06-02 08:41:53 -0600

Seen: 294 times

Last updated: Jun 02 '20