This package makes two LaserScan messages from 2 Velodyne rows.
/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.
- 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
- Complete launch files.
- Make it as parametric and config-able package.
- Make it Scale-able.
- Add TF(s) and separate frames on each topics.