[ros-users] [Discourse.ros.org] [General] Converting raw Lidar data to something more useful

[Pito Salas]

I have a small robot (turtlebot3) with a Lidar. For aa demonstration I would like to process the data coming from the lira in the following way:

1) Pay attention only to a range of angles (e.g. -15 degrees to +15 degrees)
2) Filter it into
  a) distance to obstacle
  b) rate of change of a)
  c) rate of change of b)

I am assuming that this is elementary and there are nodes/libraries in ROS that do just this. I am not asking for code but pointers to where to look and what to read. Thanks for your help!





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