Hi Gonçalo

This would be great on answers.ros.org  In general nodes and nodelets work
well together. Anything done in nodelets can be done in nodes, but they will
take more CPU.

Tully


2011/4/29 Gonçalo Cabrita <goncabrita@gmail.com>

> Hi everyone!
>
> I have a swissranger SR4000 3D camera that I mounted on an erratic and I
> would like to use it for navigation instead of a laser.
>
> I changed the navigation configuration files to input a point cloud instead
> of a laser scan, however since I'm using amcl for localization I kind of
> need a laser scan!
>
> So I checked the turtlebot stack to see how you guys do it with the kinect
> and I found out you have a nodelet that turns a point cloud into a virtual
> laser scan.
>
> Now my problem is the kinect driver is a nodelet, and the swissranger
> driver node is not. I am aware of what nodelets are, however I have never
> looked into them.
>
> In order to use the point cloud to laser nodelet should I create a nodelet
> version of the swissranger_camera node? Or is it better to make a node
> version of the point cloud to laser nodelet? Or am I missing something and I
> can make it work without having to modify anything?
>
> And should this go to answers.ros.org?
>
> Thanks for the help in advance,
>
> Gonçalo Cabrita
> ISR University of Coimbra
> Portugal
>
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>


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