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I am working with the Hokuyo laser scanner. The scanner is fixed in the robot. There is no option for application of tilt to the scanner. Now I would like to generate the 3D point cloud from the scan data. In the laser assembler node I found that it must receive set of scan data due to the tilt of the sensor. I donot need so much detailed map. All I want to extrude the line in Rviz along z axis ,I get from the laser scan data (single set). Is it possible?? If yes how?? I really stuck in here. thanks in advance.....


Originally posted by Robot on ROS Answers with karma: 180 on 2014-11-28

Post score: 1


Original comments

Comment by dornhege on 2014-11-28:
I think you're gonna have to do that yourself.

Comment by Robot on 2014-11-28:
I found one package for orthogonal projection. but I need continous extrusion of the line upto the gorund.

Comment by Andromeda on 2015-05-28:
@Robot did you implement that function? I have the same need. So it would be helpful to know what is the best way to do that. Regards

Comment by bomdaworld on 2016-09-15:
http://answers.ros.org/question/11232/how-to-turn-laser-scan-to-point-cloud-map/ The answers here provide a pretty decent example, just edit the variables to fit your needs. The high-fidelity function requires a tf broadcaster whilst the low-fidelity doesn't. Refer to link to laser_geometry.

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That's a bit of an esoteric need, so you'll probably have to write your own node to make the conversion.

The simplest approach would be to use the tools in laser_geometry to initially convert the laserscan into a pointcloud. Then iterate through each point in the cloud and 'extrude' it by adding additional points with different z values, with whatever your required density is.


Originally posted by paulbovbel with karma: 4518 on 2014-11-30

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by William on 2014-12-02:
@Robot if this answer is good for you, please mark it as the answer, thanks!

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