[ros-users] Problem displaying custom laser in RVIZ

Lorenz =?utf-8?Q?M=F6senlechner?= moesenle at in.tum.de
Fri Nov 19 12:59:44 UTC 2010


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 at 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 Mösenlechner            | moesenle at in.tum.de
Technische Universität München | Boltzmannstr. 3
85748 Garching bei München     | Germany
http://ias.cs.tum.edu/         | Tel: +49 (89) 289-17750



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