/scan_to_point_cloud

ROS package for converting laser scans to point clouds.

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

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.