Hokuyo scans to 3D point clouds (with tilt angle and sensor position)
Hi All,
I have gone through the laser_assembler package and have successfully run its tutorial to convert scan data from Hokuyo UTM-30LX to composite point cloud.
However, since the scan lines are in 2D hence the composite cloud is also a 2D cloud. I know there is a way to convert the scans to 3D point clouds by using sensor position and tilt angle, but is there some node in laser_assembler or any other ros package to obtain 3D point cloud?
Currently Hokuyo is hand held, however I have bag files recorded from Quadcopter having all information inside.
Thank you and regards,
What do you mean with 2D cloud? The laser_assembler gives out 3D point clouds.
The composite cloud shown in rviz is 2D. Actually I run my Hokuyo node which publishes /scan topic. This topic is then buffer up to 400 scans. Then I call the assemble_scans service to publish the buffer point cloud and see it in rviz. Is there anything wrong happening? thanks
Did you maybe set the fixed_frame to the laser frame?
right! the fixed_frame is set to laser.
@zahid, did you get it to work? You mentioned that the laser is handheld, do you have any kind of gyroscope attached to it?