"Lorenz M�senlechner" <moesenle@in.tum.de> hat am 19. November 2010 um 13:59 geschrieben:

> It was just a guess :)
>
> I think rviz uses the laser_geometry package to transform the laser
> scan to a point cloud. I would check if calling it directly produces a
> point cloud with one point. You could also publish the resulting point
> cloud directly and display it in rviz.
>
> Lorenz
>
> >
> > Thank you,
> >
> >  
> >
> > but this did not work either. If I use a normal hokuyo, without intensities it
> > works fine. I tink the problem is that it only has one reading and this collides
> > with the min_angle, max_angle and scan_time, somehow internally.
> >
> >  
> >
> >
> >  
> >
> >  
> >
> > "Lorenz Mösenlechner" <moesenle@in.tum.de> hat am 19. November 2010 um 13:41
> > geschrieben:
> >
> > > Hi,
> > >
> > > I would try adding an intensity measurement.
> > >
> > > Lorenz
> > >
> > > >
> > > >
> > > > Dear all,
> > > >
> > > > I have te following problem: I want to display a single point laser
> > > > measurement
> > > > in RVIZ using LaserScan message. Terefor I filled most of the laser message
> > > > parameters manualle. The range was set by the laser
> > > > (Leuze ODSL-30)
> > > >
> > > > The message generated looks fine, but when i subscrive to the /scan RVIZ
> > > > refused
> > > > to display it.
> > > >
> > > > When I use rostopic echo, the message looks like this
> > > >
> > > >
> > > > =================================================================
> > > > ---
> > > > header:
> > > >   seq: 144
> > > >   stamp:
> > > >     secs: 1290166306
> > > >     nsecs: 126582347
> > > >   frame_id: base_link
> > > > angle_min: 0.0
> > > > angle_max: 0.00999999977648
> > > > angle_increment: 0.00999999977648
> > > > time_increment: 0.10000000149
> > > > scan_time: 0.10000000149
> > > > range_min: 0.20000000298
> > > > range_max: 30.0
> > > > ranges: [3.4630000591278076]
> > > > intensities: []
> > > > ---
> > > > header:
> > > >   seq: 145
> > > >   stamp:
> > > >     secs: 1290166306
> > > >     nsecs: 226820561
> > > >   frame_id: base_link
> > > > angle_min: 0.0
> > > > angle_max: 0.00999999977648
> > > > angle_increment: 0.00999999977648
> > > > time_increment: 0.10000000149
> > > > scan_time: 0.10000000149
> > > > range_min: 0.20000000298
> > > > range_max: 30.0
> > > > ranges: [3.4619998931884766]
> > > > intensities: []
> > > >
> > > > =========================================================
> > > >
> > > > Maybe the params angle_min: 0.0
> > > > angle_max: 0.00999999977648
> > > > angle_increment: 0.00999999977648
> > > > time_increment: 0.10000000149
> > > > scan_time: 0.10000000149
> > > >
> > > > are wrong (because I have only one scan in contrast to the hokuyo which has
> > > > multi scans per reading).
> > > >
> > > > I though also to use the RANGE sensor message but there seems no way to
> > > > display
> > > > it in RVIZ as well.
> > > >
> > > > Any Ideas?
> > > >
> > > > Cheers,
> > > >
> > > > Markus
> > >
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>
> --
> Lorenz M�senlechner            | moesenle@in.tum.de
> Technische Universit�t M�nchen | Boltzmannstr. 3
> 85748 Garching bei M�nchen     | Germany
> http://ias.cs.tum.edu/         | Tel: +49 (89) 289-17750