mich1342/ros2_laser_scan_merger

Handling 3D data

tersite1 opened this issue · 2 comments

tersite1 commented

Hello. I am a college student who is building my own self-driving car. First of all, I would like to thank you very much for creating this code.

First of all, our goal is to turn two different LIDAR into one publisher.
We have velodyne's vlp-16 lidar and livox lidar and plan to integrate the two and use them for clustering and object detection.

However, among the repo contents you wrote, appears to convert 3D LiDAR data into 2D. For object detection, 3D coordinates will also be needed, but LiDAR integration is possible without conversion to 2D. Can’t I proceed with the process?

mich1342 commented

Hi @tersite1

Thank you for your interest in this repo. However, this repo is not meant to be made for 3D data. As the name says LaserScan means 2D data. I am not sure what are you gonna use, if it is for Nav2 kind of obstacle avoidance I believe you could achieve it by adding more than 1 pointcloud data source and give a proper TF. Thank you.

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tersite1 commented

Hi @tersite1

Thank you for your interest in this repo. However, this repo is not meant to be made for 3D data. As the name says LaserScan means 2D data. I am not sure what are you gonna use, if it is for Nav2 kind of obstacle avoidance I believe you could achieve it by adding more than 1 pointcloud data source and give a proper TF. Thank you.