Hi Sanja,
Are you trying to collect data on a PR2, or on some other platform?
On the PR2:
- The "How To Assemble Laser Scans" tutorial that Tully mentions is a great way to get started.
- To control the laser, you can look at the Laser Controller
- If you want stuff to just kind of work, you can use the example launch file for the pr2_laser_snapshotter.
On a Custom Platform:
This thread from July has some good pointers of how to get started.
http://ros-users.122217.n3.nabble.com/Tilting-Hokuyo-tt939061.html#a939181
I am more than happy to elaborate on any of the specific parts if you
have any questions.
Vijay
Sanja,
With respect to the tf data you need I'd suggest that you look at the tf tutorials in section 4 http://www.ros.org/wiki/tf/Tutorials#Setting_up_your_robot_with_tf What you need to do is at least publish tf transformations between the frame of the laser and the frame into which you want to aggregate them.
There's also a tutorial of the assembler here which you many find useful http://www.ros.org/wiki/laser_assembler/Tutorials/HowToAssembleLaserScans
Tully--On Thu, Aug 19, 2010 at 8:58 AM, Radu Bogdan Rusu <rusu@willowgarage.com> wrote:
Sanja,
Can you have a look at the pr2_tilt_laser_interface package? We simplified the interface and made it an action, so it
should be easier to assemble laser scans.
http://ros-users.122217.n3.nabble.com/Convert-Distance-Data-to-Position-td1187843.html#a1209368
Cheers,
Radu.
--
On 08/19/2010 08:26 AM, Sanja Popovic wrote:
> Hi,
>
> I would like to set up my servo and Hokuyo to get the point cloud by using laser_assembler. By looking at the source code, I've figured out that it just accumulates the LaserScans and merges them in the PointCloud. What I don't see is how does it deal with the fact that laser is moving while tilting. Is this something I need to set with my tilting node? What is my tilting node supposed to publish in order for the TF to work properly when assembling?
>
> I am sorry for possible missing the obvious, I am kind of clueless. Any help would be highly appreciated.
>
> Thanks a lot,
> Sanja
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| Radu Bogdan Rusu | http://rbrusu.com/
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Tully Foote
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