[ros-users] Laser_data Working with gazebo

Tully Foote tfoote at willowgarage.com
Wed Nov 24 15:06:33 UTC 2010

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


2010/11/24 Nicolás Alvarez Picco <nicolasapicco at 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<http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html>
> 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<http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html>,
> 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 at willowgarage.com
(650) 475-2827
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