Hi Tully,
Thanks for the info. After reading the info, I have two question:
1)
I am using the:
and I am having this error:
[ERROR] [1290695004.098285318]: Couldn't find filter of type PR2PointCloudFootprintFilter
I can't find the PR2PointCloudFootprintFilter.
2)
Do you know if the scan_to_cloud_filter_chain do the same as the transformLaserScanToPointCloud() plus filtering the data??
Thanks!!!
Nicolas
From: tfoote@willowgarage.com
Date: Wed, 24 Nov 2010 07:06:33 -0800
To: ros-users@code.ros.org
Subject: Re: [ros-users] Laser_data Working with gazebo
Hi Nicolas,
You'll find a bunch of basic laser scan processing code in the laser_pipeline stack. http://www.ros.org/wiki/laser_pipeline Going from a LaserScan to PointCloud is implemented in the laser_geometry package in that stack.
Tully
2010/11/24 Nicolás Alvarez Picco
Hi Everybody,
I am working in simulation, specifically I am simulating a diff robot in Gazebo, but now I need to use the laser_data of the robot. So actually I don't know how to subscribe to that topic, I mean I can not find information about how can I acquire that info. I know the laser take a number of samples that I guess you can set in the model, but the msg sensor_msgs/LaserScan is an array that has all those points? Is available an standard code for subscribing this kind of msg. Because I looked into the amcl code, although it is very difficult for my C ++ level.
I have read the info about the sensor_msgs/LaserScan, though it gives info about the angles, times, but I dont know how can I get each point return by the laser so later with the tf I can know where they are inside a map.
Any kind of help is useful. Thanks.
Nicolas
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827
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