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I am currently trying to do 3D SLAM with two 2D Lidars and possibly additional IMU in ROS. However, there seems to be no ROS package available to meet my needs. The closest one would be laser_pipeline stack, but the documentation only tells me about fusioning LaserScans from "one source" although what I need is fusioning vertical scan and horizontal scan into one 3D PointCloud2. So I currently need another package to fusion scans from different sources. Anybody have an idea how to solve this problem?

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  • $\begingroup$ Are you sure you need a package for that instead of quickly writing the function yourself? $\endgroup$ – FooTheBar Oct 7 '19 at 11:26
  • $\begingroup$ @FooTheBar Because I'm pretty new in ROS? Even if I try to, it would take weeks to do that for me. $\endgroup$ – anymate98 Oct 7 '19 at 11:32
  • $\begingroup$ What would take weeks? To get the transformation between the Lidars? $\endgroup$ – FooTheBar Oct 7 '19 at 12:06
  • $\begingroup$ @FooTheBar It seems that my problem is a very simple thing to you. Sharing some ideas about it would be much helpful, isn't it? $\endgroup$ – anymate98 Oct 7 '19 at 12:10
  • $\begingroup$ Then you first have to say what exactly is the problem? Do you know the transformation between the two sensors? $\endgroup$ – FooTheBar Oct 7 '19 at 12:11

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