{"id":13437412,"url":"https://github.com/ros-perception/pointcloud_to_laserscan","last_synced_at":"2025-06-19T14:40:52.569Z","repository":{"id":33423696,"uuid":"37068977","full_name":"ros-perception/pointcloud_to_laserscan","owner":"ros-perception","description":"Converts a 3D Point Cloud into a 2D laser scan.","archived":false,"fork":false,"pushed_at":"2024-09-11T17:07:27.000Z","size":40,"stargazers_count":413,"open_issues_count":6,"forks_count":282,"subscribers_count":10,"default_branch":"rolling","last_synced_at":"2024-10-27T21:51:29.865Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"http://wiki.ros.org/pointcloud_to_laserscan","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ros-perception.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2015-06-08T13:35:49.000Z","updated_at":"2024-10-27T05:04:18.000Z","dependencies_parsed_at":"2022-07-16T18:16:51.506Z","dependency_job_id":"70579366-3b64-42f2-8bee-08d8e69e5010","html_url":"https://github.com/ros-perception/pointcloud_to_laserscan","commit_stats":{"total_commits":32,"total_committers":12,"mean_commits":"2.6666666666666665","dds":0.78125,"last_synced_commit":"272ca4df83ae5faef5df9d4fe6bd90a872360c16"},"previous_names":[],"tags_count":7,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros-perception%2Fpointcloud_to_laserscan","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros-perception%2Fpointcloud_to_laserscan/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros-perception%2Fpointcloud_to_laserscan/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros-perception%2Fpointcloud_to_laserscan/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ros-perception","download_url":"https://codeload.github.com/ros-perception/pointcloud_to_laserscan/tar.gz/refs/heads/rolling","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244371014,"owners_count":20442324,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-07-31T03:00:56.758Z","updated_at":"2025-03-19T06:31:09.390Z","avatar_url":"https://github.com/ros-perception.png","language":"C++","funding_links":[],"categories":["C++","Sensor Processing"],"sub_categories":["Lidar and Point Cloud Processing","Point Cloud Processing"],"readme":"# ROS 2 pointcloud \u003c-\u003e laserscan converters\n\nThis is a ROS 2 package that provides components to convert `sensor_msgs/msg/PointCloud2` messages to `sensor_msgs/msg/LaserScan` messages and back.\nIt is essentially a port of the original ROS 1 package.\n\n## pointcloud\\_to\\_laserscan::PointCloudToLaserScanNode\n\nThis ROS 2 component projects `sensor_msgs/msg/PointCloud2` messages into `sensor_msgs/msg/LaserScan` messages.\n\n### Published Topics\n\n* `scan` (`sensor_msgs/msg/LaserScan`) - The output laser scan.\n\n### Subscribed Topics\n\n* `cloud_in` (`sensor_msgs/msg/PointCloud2`) - The input point cloud. No input will be processed if there isn't at least one subscriber to the `scan` topic.\n\n### Parameters\n\n* `min_height` (double, default: 2.2e-308) - The minimum height to sample in the point cloud in meters.\n* `max_height` (double, default: 1.8e+308) - The maximum height to sample in the point cloud in meters.\n* `angle_min` (double, default: -π) - The minimum scan angle in radians.\n* `angle_max` (double, default: π) - The maximum scan angle in radians.\n* `angle_increment` (double, default: π/180) - Resolution of laser scan in radians per ray.\n* `queue_size` (double, default: detected number of cores) - Input point cloud queue size.\n* `scan_time` (double, default: 1.0/30.0) - The scan rate in seconds. Only used to populate the scan_time field of the output laser scan message.\n* `range_min` (double, default: 0.0) - The minimum ranges to return in meters.\n* `range_max` (double, default: 1.8e+308) - The maximum ranges to return in meters.\n* `target_frame` (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.\n* `transform_tolerance` (double, default: 0.01) - Time tolerance for transform lookups. Only used if a `target_frame` is provided.\n* `use_inf` (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.\n\n## pointcloud\\_to\\_laserscan::LaserScanToPointCloudNode\n\nThis ROS 2 component re-publishes `sensor_msgs/msg/LaserScan` messages as `sensor_msgs/msg/PointCloud2` messages.\n\n### Published Topics\n\n* `cloud` (`sensor_msgs/msg/PointCloud2`) - The output point cloud.\n\n### Subscribed Topics\n\n* `scan_in` (`sensor_msgs/msg/LaserScan`) - The input laser scan. No input will be processed if there isn't at least one subscriber to the `cloud` topic.\n\n### Parameters\n\n* `queue_size` (double, default: detected number of cores) - Input laser scan queue size.\n* `target_frame` (str, default: none) - If provided, transform the laser scan into this frame before converting to a pointcloud. Otherwise, pointcloud will be generated in the same frame as the input laser scan.\n* `transform_tolerance` (double, default: 0.01) - Time tolerance for transform lookups. Only used if a `target_frame` is provided.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros-perception%2Fpointcloud_to_laserscan","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fros-perception%2Fpointcloud_to_laserscan","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros-perception%2Fpointcloud_to_laserscan/lists"}