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 On Thu, Aug 19, 2010 at 10:44 AM, Tully Foote wrote: > 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 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 >> > _______________________________________________ >> > ros-users mailing list >> > ros-users@code.ros.org >> > https://code.ros.org/mailman/listinfo/ros-users >> >> -- >> | Radu Bogdan Rusu | http://rbrusu.com/ >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > Tully Foote > Systems Engineer > Willow Garage, Inc. > tfoote@willowgarage.com > (650) 475-2827 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >