Hi,


I think you can use this to convert from pointcloud to laserscan
http://www.ros.org/wiki/pointcloud_to_laserscan

Cheers,

Ugo


2011/2/15 "Yilmaz Bünyamin" <yilmaz.buenyamin@rwth-aachen.de>

> Hello,
> i want to convert PointCloud to LaserScan.
> I have a Topic wich publishs point cloud.
> if i try to make a map like this:
>
> rosrun gmapping slam_gmapping scan:=point_cloud
>
> i become a warning:
> [WARN] 1297772305.065463: Could not process inbound connection: topic types
> do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic':
> '/point_cloud', 'tcp_nodelay': '0', 'md5sum':
> '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan',
> 'callerid': '/slam_gmapping'}
>
> So now i want convert pointcloud to laserscan.

Or if there is another way to make a map, with pointcloud?
>
> Greetings,
> Bünyamin
>
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