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I would like to test a library that require a sensor _msgs/LaserScan topic. I found this question http://answers.ros.org/question/9450/how-to-setup-pointcloud_to_laserscan/ but I am pretty new to ROS and I have a lot of difficulties in adapting this solution to my case. Could you help me with this?


Originally posted by ESeNonFossiIo on ROS Answers with karma: 1 on 2016-12-07

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Original comments

Comment by McMurdo on 2016-12-07:
What's the problem in your case? What exactly is the error when you run that launch file?

Comment by ESeNonFossiIo on 2016-12-07:
I do not know how to write a launch file for the VLP16. I got two default launch files but they are supposed to work with Kinect.

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There is Velodyne specific software:
https://github.com/ros-drivers/velodyne/pull/110
http://wiki.ros.org/but_velodyne_proc#Laserscan_Node

Edit: Added velodyne_laserscan pull request


Originally posted by kmhallen with karma: 1416 on 2016-12-07

This answer was ACCEPTED on the original site

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Original comments

Comment by ESeNonFossiIo on 2016-12-07:
I couldn't compile it on my laptop. I got:

but_calibration_camera_velodyne/Calibration.h:53:24: error: ‘isnan’ was not declared in this scope
 return !isnan(value);

Comment by ESeNonFossiIo on 2016-12-09:
Using your branch it seems working. I see /scan and the output is ok.

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