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asked 2013-02-09 22:57:27 -0500

marwa gravatar image


how can i start pointcloud_to_laserscan package ?


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Depends on what you want to do with it - what exactly are you trying to do?

allenh1 gravatar image allenh1  ( 2013-02-11 04:18:25 -0500 )edit

@allenh1, I want to run SLAM and I've installed openni_camera and openni_launch till now, I want to install pcl_to_laserscan and then install either gmapping or hectorSLAM.

freadx gravatar image freadx  ( 2013-03-22 22:43:05 -0500 )edit

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answered 2013-02-09 23:55:42 -0500

updated 2013-02-11 10:41:10 -0500

tfoote gravatar image

This launch file might help

<!-- kinect and frame ids -->
<include file="$(find openni_launch)/launch/openni.launch"/>
 <!-- openni_manager -->
 <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>
<!-- throttling -->
 <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
 <param name="max_rate" value="2"/>
 <remap from="cloud_in" to="/camera/depth/points"/>
<remap from="cloud_out" to="cloud_throttled"/>

 <!-- fake laser -->
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
<param name="output_frame_id" value="/camera_depth_frame"/>
<remap from="cloud" to="cloud_throttled"/>
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@shade@tfoote How do I use this launch file? Where do I keep it?

freadx gravatar image freadx  ( 2013-03-22 22:43:25 -0500 )edit

answered 2013-02-09 23:07:34 -0500

Hansg91 gravatar image

By running the node and publishing your clouds to the cloud topic. The scans will be published on the scan topic.

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answered 2013-02-10 09:34:26 -0500

Chad Rockey gravatar image

You might have an easier time (and use less CPU) if you use depthimage_to_laserscan.

roslaunch openni_launch openni.launch rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw

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Asked: 2013-02-09 22:57:27 -0500

Seen: 601 times

Last updated: Feb 11 '13