/cras_laser_geometry

ROS tools for working with laser scans.

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

cras_laser_geometry

This package provides a nodelet for converting laser scans to point clouds.

Nodelets

cras_laser_geometry/scan_to_point_cloud

Topics subscribed

  • scan (sensor_msgs::LaserScan) Laser scan.

Topics published

  • cloud (sensor_msgs::PointCloud2) Point cloud converted from the laser scan.

Parameters

  • target_frame (str) Target frame to transform point cloud to.
  • fixed_frame (str) Fixed frame used for the transformation.
  • wait_for_transform (double) Seconds to wait until transforms is available.
  • tf_cache (double) Length of TF cache history (in seconds).
  • channel_options (int) Channels to extract from laser scans.
  • scan_queue (int) Scan queue size.
  • point_cloud_queue (int) Point cloud queue size.