Can we split laser scan data into sections and publish as multiple topics
I was trying to split the laser scan range data into subcategories and like to publish each category into different laser topics.
to specify more, the script should get one topic as an input - /scan and the script should publish three topics as follow = scan1 , scan2 , scan3
is there an way to split the laser scan and publish back and look them on rviz
i tried the following
def callback(laser):
current_time = rospy.Time.now()
regions["l_f_fork"] = laser.ranges[0:288]
regions["l_f_s"] = laser.ranges[289:576]
regions["stand"] = laser.ranges[576:864]
l.header.stamp = current_time
l.header.frame_id = 'laser'
l.angle_min = 0
l.angle_max = 1.57
l.angle_increment =0
l.time_increment = 0
l.range_min = 0.0
l.range_max = 100.0
l.ranges = regions["l_f_fork"]
l.intensities = [0]
left_fork.publish(l)
# l.ranges = regions["l_f_s"]
# left_side.publish(l)
# l.ranges = regions["stand"]
# left_side.publish(l)
rospy.loginfo("publishing new info")
i can see the different topics on rviz, but they are lie on the same line,