laser_deskew

ros package for 2d laser deskew using tf.

IO

• input
  /scan(sensor_msgs/LaserScan)
  /tf(odom link and laser lnk)

• output
  /deskewed_scan(sensor_msgs/LaserScan)

param

• laser_frame_id(defalut:"laser_link")

demo

data:ros.org Introduction to Working With Laser Scanner Data

rviz -d src/laser_deskew/rviz/deskew.rviz 

roslaunch laser_deskew laser_deskew.launch

rosbag play Mapping1.bag --clock

Green: deskewed scan, Red: input scan