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

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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.

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Results

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

Miscellaneous

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License

This library is licensed under the MIT License.