[ros-users] Converting PointCloud to LaserScan

"Yilmaz Bünyamin" yilmaz.buenyamin at rwth-aachen.de
Thu Feb 17 15:17:36 UTC 2011

So, because i could not understand how i use the pointcloud_to_laserscan i am trying to write an own Node wich is subscribing a topic with PointCloud and publishing a topic LaserScan.

I have some understanding problems with LaserScan.
PointCloud is easy to understand.
because there u have geometry_msgs/Point32[] points with x,y,z.
But what is in LaserScan float32[] ranges?

where do i put x y z from point cloud in LaserScan?

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