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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