scan_to_point_cloud
ROS package for converting laser scans to point clouds.
Nodelets
scan_to_point_cloud/scan_to_point_cloud
Parameters
target_frame
Target frame to transform scans into (defaults to scan frame).fixed_frame
Fixed frame to compensate in-scan robot movement (defaults to scan frame).channel_options
Channels to produce (0x03).
0x00
- enable no channels.0x01
- enable "intensities" channel.0x02
- enable "index" channel.0x04
- enable "distances" channel.0x08
- enable "stamps" channel.0x10
- enable "viewpoint" channel.
scan_queue_size
Scan queue size (2).cloud_queue_size
Point cloud queue size (2).tf_cache
Size of transform cache (10 s).tf_timeout
Wait for transform timeout (1 s).
Published topics
cloud
Converted point clouds.
Subsribed topics
scan
Input laser scans.