How to get 3D map by 2D Lidar

I want to use a motor to control the pitch angle of a single-line lidar, and transform the point cloud information scanned by the lidar to obtain a three-dimensional point cloud. How can I start my work? I don’t know much about ros. Where should I start?

Asked by czx on 2021-05-10 03:46:56 UTC

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Presumably the pointcloud_to_laserscan package would do what you're looking for. As long as your laser scan data is being published to a frame that has the current orientation of your 2D lidar, it should map to the appropriate 3D coordinates.

Important topics to understand will be transforms and coordinate frames in ROS, and robot_state_publisher will likely also be your friend here.

Asked by shonigmann on 2021-05-10 12:37:28 UTC