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Hi Tully,<br><br>Thanks for the info. After reading the info, I have two question:<br>1)<br>I am using the:<br><!-- Lase filter of type scan_to_cloud_filter_chain --><br> <br> <node pkg="laser_filters" type="scan_to_cloud_filter_chain" name="tilt_shadow_filter"><br> <br> <rosparam command="load" file="$(find han_Planner)/conf/laser_config.yaml" /><br> <rosparam command="load" file="$(find han_Planner)/conf/cloud_config.yaml" /><br> <br> <param name="high_fidelity" value="true" /><br> <param name="target_frame" type="string" value="base_link" /><br> <remap from="base_scan" to="tilt_scan" /><br> <remap from="cloud_filtered" to="tilt_scan_cloud_filtered" /><br> </node><br><br><br>and I am having this error:<br><font style="" color="#ff0000">[ERROR] [1290695004.098285318]: Couldn't find filter of type PR2PointCloudFootprintFilter</font><br><br>I can't find the <font style="" color="#ff0000">PR2PointCloudFootprintFilter<font style="" color="#000000">.<br><br>2) <br>Do you know if the scan_to_cloud_filter_chain do the same as the </font></font><tt class="backtick">transformLaserScanToPointCloud() plus filtering the data??<br><br><br>Thanks!!!<br><br>Nicolas</tt><font style="" color="#ff0000"><font style="" color="#000000"> <br><br></font></font><hr id="stopSpelling">From: tfoote@willowgarage.com<br>Date: Wed, 24 Nov 2010 07:06:33 -0800<br>To: ros-users@code.ros.org<br>Subject: Re: [ros-users] Laser_data Working with gazebo<br><br>Hi Nicolas, <br><br>You'll find a bunch of basic laser scan processing code in the laser_pipeline stack. <a href="http://www.ros.org/wiki/laser_pipeline" target="_blank">http://www.ros.org/wiki/laser_pipeline</a> Going from a LaserScan to PointCloud is implemented in the laser_geometry package in that stack. <br>
<br>Tully<br><br><div class="ecxgmail_quote">2010/11/24 Nicolás Alvarez Picco <span dir="ltr"><<a href="mailto:nicolasapicco@hotmail.com">nicolasapicco@hotmail.com</a>></span><br><blockquote class="ecxgmail_quote" style="padding-left: 1ex;">
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Hi Everybody,<br><br>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 <a href="http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html" target="_blank">sensor_msgs/LaserScan</a> 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. <br>
I have read the info about the <a href="http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html" target="_blank">sensor_msgs/LaserScan</a>, 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.<br>
Any kind of help is useful. Thanks.<br><br>Nicolas<br><br> </div>
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<br></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>
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