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.comDate: Wed, 24 Nov 2010 07:06:33 -0800
To:
ros-users@code.ros.orgSubject: 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 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, 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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