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I'm getting some strange behavior with pointcloud_to_laserscan where after doing some tests it appears that part of the pointcloud isn't being used to update the laser scan. Although the pointcloud is displayed correctly within Rviz I notice that within pointcloud_to_laserscan I'm getting a significant number of NaNs which are then ignored. Could this be something to do with 16 byte SSE alignment ?


Originally posted by JediHamster on ROS Answers with karma: 995 on 2011-03-19

Post score: 1


Original comments

Comment by JediHamster on 2011-03-19:
The point cloud /camera/depth/points appears to be shown correctly within Rviz, with the points which don't make it through pointcloud_to_laserscan being displayed.

Comment by JediHamster on 2011-03-19:
It's originally coming from /camera/depth/points, then going through cloud_throttle. It looks as if the throttle isn't doing much, and I can also directly feed in /camera/depth/points and get the same result.

Comment by Eric Perko on 2011-03-19:
What is producing your PointClouds? Do the input clouds contain NaNs?

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The pointcloud_to_laser scan node only takes a slice of the point cloud. Which is parameterized by min_height and max_height defaulting to 0.1 and 0.15 by default. [source]


Originally posted by tfoote with karma: 58457 on 2011-03-24

This answer was ACCEPTED on the original site

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