extract SensorMessages/LaserScan from SensorMessages/PointCloud2 created in simulation

asked 2013-10-07 00:47:52 -0500

Yami
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Hello all,

This is my problem: v-rep publishes data from a simulated LMS100 in the form of SensorMessages/PointCloud2 on ROS, but i need SensorMessages/LaserScan. I have installed the pointcloud_to_laserscan package but it seems to be only for Kinect. I have no idea how to use it with pointcloud data already there(and not from Kinect).Can anyone help me with that please?

Thanks in advance.

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you may just need to adjust some parameters. The pointcloud_to_laserscan essentially just takes a horizontal slice from the point cloud and makes that the "laser scan". The points in the point cloud could be out of that height range.

jdorich ( 2013-10-07 13:45:23 -0500 )edit

Thanks jdorich, but the problem is i have no idea how to use this pointcloud_to_laserscan package. So I wrote my own node which subscribes for pointclouds in vrep, #include "ros/ros.h" #include "std_msgs/String.h" #include <sensor_msgs pointcloud2.h=""> #include <sensor_msgs laserscan.h=""> /** * subscribe pointcloud from v-rep */ void cloudCallback(const sensor_msgs::PointCloud2::ConstPtr& Cloud) { ROS_INFO("Clouds Received"); } int main(int argc, char **argv) { ros::init(argc, argv, "cloudtoscan"); ros::NodeHandle n; ros::Subscriber cloud_sub = n.subscribe("/vrep/PointCloud2", 100, cloudCallback);

Yami ( 2013-10-07 23:05:03 -0500 )edit

But from here i don't know how to write the program. I know how to change point data to angle data, but do not know how to do that in every single scan. Can u please help me with that?

Yami ( 2013-10-07 23:09:06 -0500 )edit

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<launch>  <node pkg="nodelet" type="nodelet" name="vrep_laser" args="standalone pointcloud_to_laserscan/CloudToScan" respawn="true"> <param name="output_frame_id" value="/vrep_frame"/> <param name="min_height" value="-0.15"/> <param name="max_height" value="0.15"/> <remap from="cloud" to="/vrep/PointCloud2"/> </node> </launch>

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