ROS package for converting scan to pcl
- Ubuntu 20.04
- ROS Noetic
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build scan_to_pcl_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
roslaunch scan_to_pcl_ros scan_to_pcl.launch
# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release
# run demo
export TURTLEBOT3_MODEL=burger
roslaunch scan_to_pcl_ros test.launch
TF (from the frame_id of scan to the frame_id of pointcloud) is required
- /cloud (
sensor_msgs/PointCloud2
)- The converted pointcloud
- /scan (
sensor_msgs/LaserScan
)- The input scan data
- ~<name>/frame_id (string, default:
base_scan
):
The frame id of converted pointcloud