Hi Sanja,<br><br>Are you trying to collect data on a PR2, or on some other platform?<br><br><b>On the PR2:</b><br>- The "How To Assemble Laser Scans" tutorial that Tully mentions is a great way to get started.<br>
- To control the laser, you can look at the <a href="http://www.ros.org/wiki/pr2_mechanism_controllers/LaserScannerTrajController#Usage_example">Laser Controller</a><br>- If you want stuff to just kind of work, you can use the example launch file for the <a href="http://www.ros.org/wiki/pr2_laser_snapshotter#Example">pr2_laser_snapshotter</a>.<br>
<br><b>On a Custom Platform:</b><br>This thread from July has some good pointers of how to get started.<br><a href="http://ros-users.122217.n3.nabble.com/Tilting-Hokuyo-tt939061.html#a939181">http://ros-users.122217.n3.nabble.com/Tilting-Hokuyo-tt939061.html#a939181</a><br>
I am more than happy to elaborate on any of the specific parts if you
have any questions.<br><br>Vijay<br><br><div class="gmail_quote">On Thu, Aug 19, 2010 at 10:44 AM, Tully Foote <span dir="ltr"><<a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Sanja, <br>With respect to the tf data you need I'd suggest that you look at the tf tutorials in section 4 <a href="http://www.ros.org/wiki/tf/Tutorials#Setting_up_your_robot_with_tf" target="_blank">http://www.ros.org/wiki/tf/Tutorials#Setting_up_your_robot_with_tf</a> What you need to do is at least publish tf transformations between the frame of the laser and the frame into which you want to aggregate them. <br>
<br>There's also a tutorial of the assembler here which you many find useful <a href="http://www.ros.org/wiki/laser_assembler/Tutorials/HowToAssembleLaserScans" target="_blank">http://www.ros.org/wiki/laser_assembler/Tutorials/HowToAssembleLaserScans</a><br>
<br>Tully<div><div></div><div class="h5"><br><br><br><br><div class="gmail_quote">On Thu, Aug 19, 2010 at 8:58 AM, Radu Bogdan Rusu <span dir="ltr"><<a href="mailto:rusu@willowgarage.com" target="_blank">rusu@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Sanja,<br>
<br>
Can you have a look at the pr2_tilt_laser_interface package? We simplified the interface and made it an action, so it<br>
should be easier to assemble laser scans.<br>
<br>
<a href="http://ros-users.122217.n3.nabble.com/Convert-Distance-Data-to-Position-td1187843.html#a1209368" target="_blank">http://ros-users.122217.n3.nabble.com/Convert-Distance-Data-to-Position-td1187843.html#a1209368</a><br>
<br>
Cheers,<br>
Radu.<br>
<div><div></div><div><br>
On 08/19/2010 08:26 AM, Sanja Popovic wrote:<br>
> Hi,<br>
><br>
> I would like to set up my servo and Hokuyo to get the point cloud by using laser_assembler. By looking at the source code, I've figured out that it just accumulates the LaserScans and merges them in the PointCloud. What I don't see is how does it deal with the fact that laser is moving while tilting. Is this something I need to set with my tilting node? What is my tilting node supposed to publish in order for the TF to work properly when assembling?<br>
><br>
> I am sorry for possible missing the obvious, I am kind of clueless. Any help would be highly appreciated.<br>
><br>
> Thanks a lot,<br>
> Sanja<br>
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</div></div><font color="#888888">--<br>
| Radu Bogdan Rusu | <a href="http://rbrusu.com/" target="_blank">http://rbrusu.com/</a><br>
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</div></div></blockquote></div><br><br clear="all"><br></div></div><font color="#888888">-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com" target="_blank">tfoote@willowgarage.com</a><br>
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