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Pointcloud to LaserScan

asked 2012-06-01 09:34:30 -0500

allenh1 gravatar image

updated 2012-06-01 10:30:48 -0500

Hello all,

I am trying to use the pointcloud_to_laserscan node. I am publishing a pointcloud2 type file to the topic "cloud_pcl" and to fram "laser". How do I set up the roslaunch file? I've never done this before...

Thanks, -Hunter A.

Launch File:

<launch>
<!-- Fake Laser -->
    <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/      CloudToScan openni_manager" respawn="true">

        <param name="output_frame_id" value="/camera_depth_frame"/>
        <!-- heights are in the (optical?) frame of the kinect -->
        <param name="min_height" value="-0.15"/>
        <param name="max_height" value="0.15"/>
        <remap from="cloud" to="/cloud_pcl"/>
    </node>
</launch>
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answered 2012-06-01 10:25:18 -0500

DimitriProsser gravatar image

Have a look at the turtlebot_bringup launch file to see how it's done for the Turtlebot.

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I added the launch file I am using. The cloud is being published to "/cloud_pcl". What do I need to adjust to make this thing work?

allenh1 gravatar imageallenh1 ( 2012-06-01 10:31:33 -0500 )edit

I could also use a SLAM for pointclouds. Does one exist?

allenh1 gravatar imageallenh1 ( 2012-06-01 10:42:49 -0500 )edit

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Asked: 2012-06-01 09:34:30 -0500

Seen: 645 times

Last updated: Jun 01 '12