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Is there a laser assembler that produces PointCloud2?

asked 2011-05-06 04:25:16 -0500

raphael favier gravatar image

Hello,

I am using the laser_assembler package to assemble laser scans. This implementation outputs pointCloud messages, and in parallel, point_cloud_converter has been deprecated for diamondback.

Is there any implementation of laser assembler that would already output pointCloud2 format? Or is there anything planned to implement such a node? Else, I can modify laser_assembler myself.

Thanks in advance

Raph

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answered 2011-05-06 18:56:00 -0500

tfoote gravatar image

I don't think anyone has worked on this yet. If you wanted to make a node which does that it would be greatly appreciated. To get it integrated, please just attach it as an enhancement ticket for the laser_assembler package.

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I hacked the node by changing the service to ouput PointCloud2 format, and by converting the original pointCloud to pointCloud2 using sensor_msgs::convertPointCloudToPointCloud2. If this is fine with you, I can post it somewhere, else some more effort should be invested into dealing with pointCloud2 everywhere in the code.
raphael favier gravatar image raphael favier  ( 2011-05-19 04:47:29 -0500 )edit
BTW, is there any clear tutorial on how to access/write the data of pointCloud2? I find it quite hard has data is an integer array and you need to deal with endianess and the size of whatever is carried inside. I found myself stuck on it quite often an prefer using the pcl pointClouds as they have helper functions to access/write inside them.
raphael favier gravatar image raphael favier  ( 2011-05-19 04:51:32 -0500 )edit
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answered 2011-08-17 04:53:56 -0500

Zack gravatar image

although point_cloud_converter has been deprecated you can still use the package. It'll probably work just fine during the transition period till all the nodes has migrated to the new pointcloud2.

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Asked: 2011-05-06 04:25:16 -0500

Seen: 1,419 times

Last updated: Aug 17 '11