I can help you with this.

On Thu, 2010-08-19 at 11:26 -0400, 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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