[ros-users] Converting PointCloud to LaserScan

Felix Endres endres at informatik.uni-freiburg.de
Thu Feb 17 17:50:42 UTC 2011

LaserScan assumes that all points are in a plane, namely the XY plane of 
the sensor coordinate system. The coordinates x,y,z can be computed from 
the sensor pose (position and orientation, which are defined by the tf 
frame stored in the header), the angle_min, the angle_increment, the 
range from ranges[] and its position in ranges[]. You would have to 
invert this computation.

Am 17.02.2011 16:17, schrieb "Yilmaz Bünyamin":
> 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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