https://github.com/ros-perception/pointcloud_to_laserscan

Converts a 3D Point Cloud into a 2D laser scan.
https://github.com/ros-perception/pointcloud_to_laserscan

Last synced: about 2 months ago
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Converts a 3D Point Cloud into a 2D laser scan.

• Host: GitHub
• URL: https://github.com/ros-perception/pointcloud_to_laserscan
• Owner: ros-perception
• License: bsd-3-clause
• Created: 2015-06-08T13:35:49.000Z (over 9 years ago)
• Default Branch: rolling
• Last Pushed: 2024-09-11T17:07:27.000Z (3 months ago)
• Last Synced: 2024-09-12T02:51:44.465Z (3 months ago)
• Language: C++
• Homepage: http://wiki.ros.org/pointcloud_to_laserscan
• Size: 39.1 KB
• Stars: 405
• Watchers: 10
• Forks: 275
• Open Issues: 6
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • License: LICENSE

Awesome Lists containing this project

• awesome-robotic-tooling - pointcloud_to_laserscan - Converts a 3D Point Cloud into a 2D laser scan. (Sensor Processing / Point Cloud Processing)
• awesome-robotic-tooling - pointcloud_to_laserscan - Converts a 3D Point Cloud into a 2D laser scan. (Sensor Processing / Lidar and Point Cloud Processing)

README

        
# ROS 2 pointcloud <-> laserscan converters

This is a ROS 2 package that provides components to convert `sensor_msgs/msg/PointCloud2` messages to `sensor_msgs/msg/LaserScan` messages and back.

It is essentially a port of the original ROS 1 package.

## pointcloud\_to\_laserscan::PointCloudToLaserScanNode

This ROS 2 component projects `sensor_msgs/msg/PointCloud2` messages into `sensor_msgs/msg/LaserScan` messages.

### Published Topics

* `scan` (`sensor_msgs/msg/LaserScan`) - The output laser scan.

### Subscribed Topics

* `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.

### Parameters

* `min_height` (double, default: 2.2e-308) - The minimum height to sample in the point cloud in meters.

* `max_height` (double, default: 1.8e+308) - The maximum height to sample in the point cloud in meters.

* `angle_min` (double, default: -π) - The minimum scan angle in radians.

* `angle_max` (double, default: π) - The maximum scan angle in radians.

* `angle_increment` (double, default: π/180) - Resolution of laser scan in radians per ray.

* `queue_size` (double, default: detected number of cores) - Input point cloud queue size.

* `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.

* `range_min` (double, default: 0.0) - The minimum ranges to return in meters.

* `range_max` (double, default: 1.8e+308) - The maximum ranges to return in meters.

* `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.

* `transform_tolerance` (double, default: 0.01) - Time tolerance for transform lookups. Only used if a `target_frame` is provided.

* `use_inf` (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.

## pointcloud\_to\_laserscan::LaserScanToPointCloudNode

This ROS 2 component re-publishes `sensor_msgs/msg/LaserScan` messages as `sensor_msgs/msg/PointCloud2` messages.

### Published Topics

* `cloud` (`sensor_msgs/msg/PointCloud2`) - The output point cloud.

### Subscribed Topics

* `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.

### Parameters

* `queue_size` (double, default: detected number of cores) - Input laser scan queue size.

* `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.

* `transform_tolerance` (double, default: 0.01) - Time tolerance for transform lookups. Only used if a `target_frame` is provided.