scan_to_pcl_ros

ROS package for converting scan to pcl

Environment

• Ubuntu 20.04
• ROS Noetic
• PCL

Dependency

• 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

Runtime requirement

TF (from the frame_id of scan to the frame_id of pcl) is required

Nodes

scan_to_pcl

Published Topics

• /cloud (sensor_msgs/PointCloud2)
  • The converted point cloud

Subscribed Topics

• /scan (sensor_msgs/LaserScan)
  • The input scan data

Parameters

• ~<name>/frame_id (string, default: base_scan):
  The frame id of converted point cloud

References

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