How to convert a laser scan into a pointcloud_ROS

最新推荐文章于 2024-03-07 15:29:14 发布

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最新推荐文章于 2024-03-07 15:29:14 发布

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分类专栏： Mobile Robot 文章标签： laser scan pointcloud ros

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本文详细介绍了如何使用ROS将激光雷达数据转换为点云数据。首先，通过catkin创建了一个包含必要依赖的包，并运行了激光扫描。然后，通过rostopic工具检查了激光扫描的配置和类型。接下来，创建了一个Python脚本，实现了从激光雷达消息到点云消息的转换。最后，通过运行Python脚本并在RViz中显示点云数据，完成了整个流程。

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Create a package in src:

catkin_create_pkg laser_pc rospy sensor_msgs laser_geometry

Run the laser scan.

Use " rostopic list" to find the configuration of laser scan.

Use “rostopic info /f_scan” to check the type of the laser scan. If it shows “Type: sensor_msgs/LaserScan”, it’s right.

Create a Python file in “src” document. I gave the name “laser2pc.py”. And Copy this program into the py file. You need to change the information of the laser scan in the program.

#!/usr/bin/env python

import rospy
from sensor_msgs.msg import PointCloud2 as pc2
from sensor_msgs.msg import LaserScan
from laser_geometry import LaserProjection

class Laser2PC():
    def __init__(self):
        self.laserProj = LaserProjection()
        self.pcPub = rospy.Publisher("/laserPointCloud", pc2, queue_size=1)
        self.laserSub = rospy.Subscriber("/f_scan", LaserScan, self.laserCallback)

    def laserCallback(self,data):

        cloud_out = self.laserProj.projectLaser(data)

        self.pcPub.publish(cloud_out)

if __name__ == '__main__':
    rospy.init_node("laser2PointCloud")
    l2pc = Laser2PC()
    rospy.spin()

Run the python program by using " rosrun laser_pc laser2pc.py".

open the RViz.

add the “PointCloude2” and choose the Topic.

Finished.