It was just a guess :) I think rviz uses the laser_geometry package to transform the laser scan to a point cloud. I would check if calling it directly produces a point cloud with one point. You could also publish the resulting point cloud directly and display it in rviz. Lorenz > > Thank you, > >   > > but this did not work either. If I use a normal hokuyo, without intensities it > works fine. I tink the problem is that it only has one reading and this collides > with the min_angle, max_angle and scan_time, somehow internally. > >   > > >   > >   > > "Lorenz Mösenlechner" hat am 19. November 2010 um 13:41 > geschrieben: > > > Hi, > > > > I would try adding an intensity measurement. > > > > Lorenz > > > > > > > > > > > Dear all, > > > > > > I have te following problem: I want to display a single point laser > > > measurement > > > in RVIZ using LaserScan message. Terefor I filled most of the laser message > > > parameters manualle. The range was set by the laser > > > (Leuze ODSL-30) > > > > > > The message generated looks fine, but when i subscrive to the /scan RVIZ > > > refused > > > to display it. > > > > > > When I use rostopic echo, the message looks like this > > > > > > > > > ================================================================= > > > --- > > > header: > > >   seq: 144 > > >   stamp: > > >     secs: 1290166306 > > >     nsecs: 126582347 > > >   frame_id: base_link > > > angle_min: 0.0 > > > angle_max: 0.00999999977648 > > > angle_increment: 0.00999999977648 > > > time_increment: 0.10000000149 > > > scan_time: 0.10000000149 > > > range_min: 0.20000000298 > > > range_max: 30.0 > > > ranges: [3.4630000591278076] > > > intensities: [] > > > --- > > > header: > > >   seq: 145 > > >   stamp: > > >     secs: 1290166306 > > >     nsecs: 226820561 > > >   frame_id: base_link > > > angle_min: 0.0 > > > angle_max: 0.00999999977648 > > > angle_increment: 0.00999999977648 > > > time_increment: 0.10000000149 > > > scan_time: 0.10000000149 > > > range_min: 0.20000000298 > > > range_max: 30.0 > > > ranges: [3.4619998931884766] > > > intensities: [] > > > > > > ========================================================= > > > > > > Maybe the params angle_min: 0.0 > > > angle_max: 0.00999999977648 > > > angle_increment: 0.00999999977648 > > > time_increment: 0.10000000149 > > > scan_time: 0.10000000149 > > > > > > are wrong (because I have only one scan in contrast to the hokuyo which has > > > multi scans per reading). > > > > > > I though also to use the RANGE sensor message but there seems no way to > > > display > > > it in RVIZ as well. > > > > > > Any Ideas? > > > > > > Cheers, > > > > > > Markus > > > > > ------------------------------------------------------------------------------ > > > Beautiful is writing same markup. Internet Explorer 9 supports > > > standards for HTML5, CSS3, SVG 1.1,  ECMAScript5, and DOM L2 & L3. > > > Spend less time writing and  rewriting code and more time creating great > > > experiences on the web. Be a part of the beta today > > > http://p.sf.net/sfu/msIE9-sfdev2dev > > > > > _______________________________________________ > > > ros-users mailing list > > > ros-users@lists.sourceforge.net > > > https://lists.sourceforge.net/lists/listinfo/ros-users > > > > > _______________________________________________ > > > ros-users mailing list > > > ros-users@code.ros.org > > > https://code.ros.org/mailman/listinfo/ros-users > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users -- Lorenz Mösenlechner | moesenle@in.tum.de Technische Universität München | Boltzmannstr. 3 85748 Garching bei München | Germany http://ias.cs.tum.edu/ | Tel: +49 (89) 289-17750