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Hokuyo scans to 3D point clouds (with tilt angle and sensor position)

asked 2013-05-21 01:38:33 -0600

zahid gravatar image

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,

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What do you mean with 2D cloud? The laser_assembler gives out 3D point clouds.

dornhege gravatar image dornhege  ( 2013-05-21 01:44:58 -0600 )edit

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

zahid gravatar image zahid  ( 2013-05-21 04:05:36 -0600 )edit

Did you maybe set the fixed_frame to the laser frame?

dornhege gravatar image dornhege  ( 2013-05-21 04:35:57 -0600 )edit

right! the fixed_frame is set to laser.

zahid gravatar image zahid  ( 2013-05-21 04:58:57 -0600 )edit

@zahid, did you get it to work? You mentioned that the laser is handheld, do you have any kind of gyroscope attached to it?

Narek gravatar image Narek  ( 2016-02-11 12:44:02 -0600 )edit

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answered 2013-05-21 05:13:34 -0600

dornhege gravatar image

For this to work, you'll need to set the "fixed frame" to a fixed frame, i.e. the frame must be fixed with respect to the world. If this is the laser frame and the laser is moving, it is not fixed and you'll get the results that you see.

Use something like world or map or even base_link depending on your application.

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Thank you dornhege, actually I already took care of fixed_frame as it was emphasised also in tutorials but there was something wrong with my /tf as well. But considering a fix frame helped me to figure out other problems as well.

zahid gravatar image zahid  ( 2013-05-23 01:12:59 -0600 )edit

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Asked: 2013-05-21 01:38:33 -0600

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Last updated: May 21 '13