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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,