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Velodyne LiDAR 3D-points (pointcloud2) to LaserScan message.

This package makes two LaserScan messages from 2 Velodyne rows.

Topic names:

/scan for down-side of Velodyne points in order to providing legs scan.

/scan_ubg for up-side of Velodyne points in order to providing torso scan.

Usage:

  • Clone this repo, move on velodyne_to_lrf branch.
  • Make repo: on your workspace do catkin_make
  • roscore
  • rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node

TODO:

  • Complete launch files.
  • Make it as parametric and config-able package.
  • Make it Scale-able.
  • Add TF(s) and separate frames on each topics.