Pointcloud to Laserscan Nodelet

This ROS package launches a nodelet that converts pointcloud data to laser scan data. It is based on the code from pointcloud_to_laserscan but improved in the sense that the max height of the point cloud is obtained dynamically taking into account the height og the robot.

Launch File

The main launch file for this package is sample_nodelet.launch. Below is a brief description of its contents:

Nodes

• pointcloud_to_laserscan: This nodelet is loaded into the sensor's nodelet manager. It converts pointcloud data to laser scan data.

Parameters

• target_frame: The frame to which the scan should be transformed. Default is camera_link.
• min_frame: The frame corresponding to the minimum height of the robot. Default is base_link.
• max_frame: The frame corresponding to the maximum height of the robot. Default is head2_link.
• transform_tolerance: The tolerance for the transform. Default is 0.01.
• min_height: The minimum height for the points to be considered. Default is 0.0.
• max_height: The maximum height for the points to be considered if no frame is inserted on min_frame and max_frame. Default is 1.0.
• angle_min: The minimum angle for the scan. Default is -1.5708 (i.e., -π/2).
• angle_max: The maximum angle for the scan. Default is 1.5708 (i.e., π/2).
• angle_increment: The angle increment for the scan. Default is 0.0087 (i.e., π/360).
• scan_time: The time between scans. Default is 0.3333.
• range_min: The minimum range for the scan. Default is 0.45.
• range_max: The maximum range for the scan. Default is 4.0.
• use_inf: Whether to use infinity for out-of-range values. Default is true.
• inf_epsilon: The epsilon value for infinity. Default is 1.0.
• concurrency_level: The concurrency level for processing pointclouds. Default is 1.

Usage

To launch the nodelet, use the following command:

roslaunch pointcloud_to_laserscan sample_nodelet.launch

License

This project is licensed under the MIT License - see the LICENSE file for details.