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https://github.com/toshikinakamura0412/scan_to_pcl_ros

ROS package for converting scan to pcl
https://github.com/toshikinakamura0412/scan_to_pcl_ros

bsd-3-clause conversion cpp pcl pointcloud robotics ros ros-noetic scanning

Last synced: 9 days ago
JSON representation

ROS package for converting scan to pcl

Host: GitHub
URL: https://github.com/toshikinakamura0412/scan_to_pcl_ros
Owner: ToshikiNakamura0412
License: bsd-3-clause
Created: 2023-07-17T16:44:46.000Z (over 1 year ago)
Default Branch: master
Last Pushed: 2024-06-23T06:15:37.000Z (7 months ago)
Last Synced: 2024-11-20T21:58:45.004Z (2 months ago)
Topics: bsd-3-clause, conversion, cpp, pcl, pointcloud, robotics, ros, ros-noetic, scanning
Language: C++
Homepage:
Size: 60.5 KB
Stars: 1
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

# scan_to_pcl_ros

![Build Status](https://github.com/ToshikiNakamura0412/scan_to_pcl_ros/workflows/build/badge.svg)
[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)

ROS package for converting scan to pcl

## Environment
- Ubuntu 20.04
- ROS Noetic

## Dependency
- [laser_geometry](http://wiki.ros.org/laser_geometry)

## Install and Build
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build scan_to_pcl_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
```

## How to use
```
roslaunch scan_to_pcl_ros scan_to_pcl.launch
```

## Running the demo
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch scan_to_pcl_ros test.launch
```

## Node I/O
![Node I/O](images/node_io.png)

### Runtime requirement
TF (from the frame_id of scan to the frame_id of pointcloud) is required

## Nodes
### scan_to_pcl
#### Published Topics
- /cloud (`sensor_msgs/PointCloud2`)
- The converted pointcloud

#### Subscribed Topics
- /scan (`sensor_msgs/LaserScan`)
- The input scan data

#### Parameters
- ~\/frame_id (string, default: `base_scan`):

The frame id of converted pointcloud

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