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turtlebot: pointcloud_to_laserscan | turtlebot_bringup | turtlebot_description | turtlebot_driver | turtlebot_node

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

• Author: Tully Foote
• License: BSD
• Repository: turtlebot-ros-pkg
• Source: hg https://kforge.ros.org/turtlebot/turtlebot

Nodes

cloud_to_scan

cloud_to_scan takes a point cloud and generates a 2D laser scan based on the provided parameters.

Subscribed Topics

cloud (sensor_msgs/PointCloud2)

• The input point cloud.

Published Topics

scan (sensor_msgs/LaserScan)

• The output laser scan.

Parameters

~min_height (double, default: 0.10)

• The minimum height to sample in the point cloud in meters.

~max_height (double, default: 0.15)

• The maximum height to sample in the point cloud in meters.

~angle_min (double, default: -π/2)

• The minimum scan angle in radians.

~angle_max (double, default: π/2)

• The maximum scan angle in radians.

~scan_time (double, default: 1/30.0)

• The scan rate in seconds.

~range_min (double, default: 0.45)

• The minimum ranges to return in meters.

~range_max (double, default: 10.0)

• The maximum ranges to return in meters.

~output_frame_id (str, default: /kinect_depth_frame)

• The frame id of the laser scan. For point clouds coming from an "optical" frame with Z forward, this value should be set to the corresponding frame with X forward and Z up.

cloud_throttle

cloud_throttle republishes a point cloud at a specified rate.

Subscribed Topics

could_in (sensor_msgs/PointCloud2)

• The input point cloud.

Published Topics

cloud_out (sensor_msgs/PointCloud2)

• The output point_cloud.

Parameters

~max_rate (double, default: 0)

• The rate in Hz to republish the point cloud.