I Tully, Thanks for your reply, I think I got it now, I'll give it a try though I think I'll end up doing a swissranger_camera nodelet version so that the software runs more efficiently (the erratic PC is not that fast). Still I posted my question on answers.ros.org :) Gonçalo Cabrita ISR University of Coimbra Portugal On Fri, Apr 29, 2011 at 5:32 PM, Tully Foote wrote: > 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 > >> 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 >> >> _______________________________________________ >> 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 > >