Usage

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"?>
<launch>
        <!-- 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"/>
                </node>
                
        </group>
</launch>