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/