pointcloud_to_laserscan::LaserScanToPointCloudNode This ROS 2 component re-publishessensor_msgs/msg/LaserScanmessages assensor_msgs/msg/PointCloud2messages. Published Topics cloud(sensor_msgs/msg/PointCloud2) - The output point cloud. Subscribed Topics ...
git clone -b foxy https://github.com/ros-perception/pointcloud_to_laserscan cd ~/sensor_ws/ colcon build --symlink-install 加载工作空间 . ~/sensor_ws/install/local_setup.bash 测试: 点云转为激光数据 ros2 launch pointcloud_to_laserscan sample_pointcloud_to_laserscan_launch.py 订阅话题scanner...
ROS 2 pointcloud <-> laserscan converters Issue 表单模式来袭 提交Issue,填表就好 内容必填选填?你说了算! 精准反馈,高效沟通 我知道了查看详情 登录注册 扫描微信二维码支付 取消 支付完成 Watch 不关注关注所有动态仅关注版本发行动态关注但不提醒动态
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...
安装pointcloud_to_laserscan 修改配置 运行结果 概要 在ROS中将点云(PointCloud)转换为激光扫描(LaserScan)是一个常见的任务,尤其是在某些机器人系统中,激光雷达数据被用于导航和避障,但传感器输出的是点云数据。这种转换可以通过 pointcloud_to_laserscan 包实现,该包提供了一个节点,可以将接收到的PointCloud2消息转...
With that I have verified that FW 2.4, FW 2.5.2 and FW 3.0 all work fine with the submitted fix. However, out of curiosity, I wanted to try a FW prior to 2.4 so I went ahead and downgraded one of my sensors to 2.3 and to my surprise the LaserScan msg was skewed 🤯! I have...
在ROS 2中,将雷达数据(如sensor_msgs/msg/LaserScan)转换为点云数据(sensor_msgs/msg/PointCloud2)是一个常见的需求。以下是详细的步骤,包括代码示例,来完成这一转换过程: 1. 读取ROS 2雷达数据 首先,需要创建一个ROS 2节点来订阅雷达数据话题。这里假设雷达数据的话题是/scan。 cpp #include <rclcpp/rclcp...
ROS 传感器消息之Laserscan 消息定义 首先,查看一下sensor_msgs/LaserScan.msg的定义,见ros.org/LaserScan.“` Header headerfloat32angle_min # start angle of the scan [rad]float32angle_max # end angle of the scan [rad]float32angle_increment # angular distance between measurements [rad]float32time_...
(*scan, cloud);//使用tf的转换projector_.transformLaserScanToPointCloud("laser", *scan, cloud, tfListener_);introw_step =cloud.row_step;intheight =cloud.height;/*将 sensor_msgs::PointCloud2 转换为 pcl::PointCloud<T>*///注意要用fromROSMsg函数需要引入pcl_versions(见头文件定义)pcl::Point...
pointcloud_to_laserscan:将3D点云转换为2D激光扫描 ROS 2 pointcloud <-> laserscan转换器 这是ROS 2软件包,提供用于将sensor_msgs/msg/PointCloud2消息转换为sensor_msgs/msg/LaserScan消息并返回的组件。 它实质上是原始ROS 1软件包的端口。 pointcloud_to_laserscan :: PointCloudToLaserScanNode ROS 2组件将...