Diogo Matos

laser3D_pointcloud: laser3D_pointcloud


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    How to accumulate a pointCloud using the laser3D information

    This is what you should do

    use the main.cpp file

    Then you must subscribe the desired topic

    With this class you should subscribe a sensor_msgs::LaserScan a sensor_msgs::JointState(create respective Callback)

    You must set the accumulation frame (required)

    Publish Accumulated PointCloud

    The message to publish is from type sensor_msgs::PointCloud2

    To make it simple:

    Using the main.cpp

    Example of a xml launch file for the laser3D topic's information

    <?xml version="1.0"?>
            <!-- This is a atlasmv launch files for starting a pointcloud accumulation from the laser3D-->
            <group ns="/snr/las3d/fus/pointcloud">
                    <!-- Remmaping topics-->
                    <remap from="/joint_state" to="/trf/joints"/>
                    <remap from="/laserscan0" to="/snr/las/0/scan"/>
                    <remap from="/pc_out" to="/snr/las3d/fus/pointcloud"/>
                    <remap from="/tf" to="/trf/frames"/>
                    <!-- Set the accumulation frame_id-->
                    <remap from="/ac_frame" to="/atc/laser/roof_rotating/base"/>
                    <node name="node" pkg="laser3D_pointcloud" type="las3D_pc">
                            <!-- Set the accumulation_mode;
                            1 - Use slerp projection, with time t0 and tn based on the shaft angle stamp; 
                            2 - No correction (project the laser scan in only one phi), using t0 as scan start time
                            3 - Use slerp projection, with time t0 and tn based on the scan time;  -->
                            <param name="accumulation_mode" type="int" value="1"/>
                            <!-- Max of scans to be accumulated -->
                            <param name="max_scans_accumulated" type="int" value="500"/>
                            <!-- 1  - ros time now;
                                     0  - rost time scan, using when we are using bag-->
                            <param name="pointcloud_stamp" type="int" value="1"/>
                            <!-- Set the output_frequency-->
                            <param name="output_frequency" type="double" value="200.0"/>
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    Author(s): Matos
    autogenerated on Wed Jul 23 04:33:25 2014