pointcould_scan from hokuyo in V-REP [closed]

asked 2013-07-01 12:32:46 -0600

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Hi, I am new with V-REP. Now I have a topic /verp/rangeData which is CloudPoint2 (published from hokuyo in V-rep, simros_strmcmd_get_range_finder_data ). I had tried to view cloudpoint2 directly in rviz but didn't work. I find the kinect launch file as

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.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_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

So, how should I change the kinect_launch file to convert /vrep/rangeData (pointcloud2) to laserscan.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-09-19 20:08:12.155436