Hi Nicolas,
For 1) The PR2PointCloudFootprintFIlter is in the pr2_laser_filters package
in the pr2_navigation stack.

For 2) That function is run in the middle of that filtering node, and
applies filters to the laser scan before, and the point cloud after.

Tully


2010/11/25 Nicolás Alvarez Picco <nicolasapicco@hotmail.com>

>  Hi Tully,
>
> Thanks for the info. After reading the info, I have two question:
> 1)
> I am using the:
> <!-- Lase filter of type scan_to_cloud_filter_chain -->
>
>    <node pkg="laser_filters" type="scan_to_cloud_filter_chain"
> name="tilt_shadow_filter">
>
>     <rosparam command="load" file="$(find
> han_Planner)/conf/laser_config.yaml" />
>     <rosparam command="load" file="$(find
> han_Planner)/conf/cloud_config.yaml" />
>
>     <param name="high_fidelity" value="true" />
>     <param name="target_frame" type="string" value="base_link" />
>     <remap from="base_scan" to="tilt_scan" />
>     <remap from="cloud_filtered" to="tilt_scan_cloud_filtered" />
>   </node>
>
>
> and I am having this error:
> [ERROR] [1290695004.098285318]: Couldn't find filter of type
> PR2PointCloudFootprintFilter
>
> I can't find the PR2PointCloudFootprintFilter.
>
> 2)
> Do you know if the scan_to_cloud_filter_chain do the same as the transformLaserScanToPointCloud()
> plus filtering the data??
>
>
> Thanks!!!
>
> Nicolas
>
> ------------------------------
> From: tfoote@willowgarage.com
> Date: Wed, 24 Nov 2010 07:06:33 -0800
> To: ros-users@code.ros.org
> Subject: Re: [ros-users] Laser_data Working with gazebo
>
>
> Hi Nicolas,
>
> You'll find a bunch of basic laser scan processing code in the
> laser_pipeline stack.  http://www.ros.org/wiki/laser_pipeline  Going from
> a LaserScan to PointCloud is implemented in the laser_geometry package in
> that stack.
>
> Tully
>
> 2010/11/24 Nicolás Alvarez Picco <nicolasapicco@hotmail.com>
>
>  Hi Everybody,
>
> I am working in simulation, specifically I am simulating a diff robot in
> Gazebo, but now I need to use the laser_data of the robot. So actually I
> don't know how to subscribe to that topic, I mean I can not find information
> about how can I acquire that info. I know the laser take a number of samples
> that I guess you can set in the model, but the msg sensor_msgs/LaserScan<http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html>
> is an array that has all those points? Is available an standard code for
> subscribing this kind of msg. Because I looked into the amcl code, although
> it is very difficult for my C ++ level.
> I have read the info about the sensor_msgs/LaserScan<http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html>,
> though it gives info about the angles, times, but I dont know how can I get
> each point return by the laser so later with the tf I can know where they
> are inside a map.
> Any kind of help is useful. Thanks.
>
> Nicolas
>
>
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>
>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote@willowgarage.com
> (650) 475-2827
>
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>


-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827