Shahmi,

Take a look at the pr2_tilt_laser_interface action (LaserScan->PointCloud2) or the older laser_assembler 
(LaserScan->PointCloud) for an example.

For visualizations, you can use rviz or pcd_viewer in pcl_visualization (for individual snapshots).

Cheers,
Radu.

On 08/17/2010 06:44 AM, shahmi wrote:
> Hi,
>
> Could anybody give me a guide how to convert distance data (raw data or
> obtained from laser scanner) to a cartesian map (I wanna map it like in
> pixel image) in order to further process it easily. Is there any
> specific package that I can visualize it using ROS?
>
> Thanks in advance.
>
> Regards,
> Shahmi
>
>
>
>
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/