I Tully,<div><br></div><div>Thanks for your reply, I think I got it now, I&#39;ll give it a try though I think I&#39;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 <a href="http://answers.ros.org">answers.ros.org</a> :)</div>
<div><br></div><div>Gonçalo Cabrita</div><div>ISR University of Coimbra</div><div>Portugal<br><br><div class="gmail_quote">On Fri, Apr 29, 2011 at 5:32 PM, Tully Foote <span dir="ltr">&lt;<a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hi Gonçalo<br><br>This would be great on <a href="http://answers.ros.org" target="_blank">answers.ros.org</a>  In general nodes and nodelets work well together. Anything done in nodelets can be done in nodes, but they will take more CPU.  <br>


<br>Tully<br><br><br><div class="gmail_quote"><div><div></div><div class="h5">2011/4/29 Gonçalo Cabrita <span dir="ltr">&lt;<a href="mailto:goncabrita@gmail.com" target="_blank">goncabrita@gmail.com</a>&gt;</span><br></div>
</div><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex"><div><div></div><div class="h5">

Hi everyone!<div><br></div><div>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.</div><div><br></div><div>I changed the navigation configuration files to input a point cloud instead of a laser scan, however since I&#39;m using amcl for localization I kind of need a laser scan!</div>



<div><br></div><div>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.</div><div><br></div><div>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.</div>



<div><br></div><div>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?</div>



<div><br></div><div>And should this go to <a href="http://answers.ros.org" target="_blank">answers.ros.org</a>?</div><div><br></div><div>Thanks for the help in advance,</div><div><br></div><font color="#888888"><div>Gonçalo Cabrita</div>


<div>ISR University of Coimbra</div>
<div>Portugal</div>
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<br></blockquote></div><font color="#888888"><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com" target="_blank">tfoote@willowgarage.com</a><br>
(650) 475-2827<br>
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