sensor_pointcloud

Convert range data from ultrasound/lidar topics (sensor_msgs::Range) to pointclouds (sensor_msgs::PointCloud2)

Installation

Using catkin_make

1. Change directory to your catkin workspace source directory cd ~/catkin_ws/src
2. Clone the repository to your catkin workspace

git clone https://github.com/eliotlim/sensor_pointcloud

3. Build the package from source by performing catkin_make

Usage

roslaunch

1. Execute roslaunch sensor_pointcloud sensor_pointcloud.launch

• This will load sensor_pointcloud/sensorConfig.yaml into the node namespace by default.

rosrun

1. Load ros parameters using rosparam
2. Call rosrun sensor_pointcloud sensor_pointcloud_node

How to use sensorConfig.yaml

Please refer to this guide for details.

Results

Launching the node using roslaunch with the default sensorConfig.yaml will give you the following transform tree.

Miscellaneous

License

This library is licensed under the MIT License.