[ros-users] Laser_data Working with gazebo

Nicolás Alvarez Picco nicolasapicco at hotmail.com
Thu Nov 25 14:29:21 UTC 2010

Hi Tully,

Thanks for the info. After reading the info, I have two question:
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" />

and I am having this error:
[ERROR] [1290695004.098285318]: Couldn't find filter of type PR2PointCloudFootprintFilter

I can't find the PR2PointCloudFootprintFilter.

Do you know if the scan_to_cloud_filter_chain do the same as the transformLaserScanToPointCloud() plus filtering the data??



From: tfoote at willowgarage.com
Date: Wed, 24 Nov 2010 07:06:33 -0800
To: ros-users at code.ros.org
Subject: 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. 


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  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.




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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827

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