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turtlebot: pointcloud_to_laserscan | turtlebot_bringup | turtlebot_description | turtlebot_driver | turtlebot_node

Package Summary

Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).

Nodes

cloud_to_scan

cloud_to_scan takes a point cloud and generates a 2D laser scan based on the provided parameters.

Subscribed Topics

cloud (sensor_msgs/PointCloud2)

Published Topics

scan (sensor_msgs/LaserScan)

Parameters

~min_height (double, default: 0.10) ~max_height (double, default: 0.15) ~angle_min (double, default: -π/2) ~angle_max (double, default: π/2) ~scan_time (double, default: 1/30.0) ~range_min (double, default: 0.45) ~range_max (double, default: 10.0) ~output_frame_id (double, default: /kinect_depth_frame)

cloud_throttle

cloud_throttle republishes a point cloud at a specified rate.

Subscribed Topics

could_in (sensor_msgs/PointCloud2)

Published Topics

cloud_out (sensor_msgs/PointCloud2)

Parameters

~max_rate (double, default: 0)


2011-11-19 12:29