Only released in EOL distros:
pr2_doors: ANN_doors | door_handle_detector | door_msgs | pr2_doors_actions | pr2_doors_common | pr2_doors_executive | pr2_laser_snapshotter | tff_controller
Package Summary
No API documentation
Uses the laser_assembler to generate points clouds from each sweep from PR2's tilting laser mechanism.
- Author: Vijay Pradeep
- License: BSD
- Repository: wg-ros-pkg
- Source: hg https://kforge.ros.org/doors/hg
pr2_doors: ANN_doors | door_handle_detector | door_msgs | pr2_doors_actions | pr2_doors_common | pr2_doors_executive | pr2_laser_snapshotter | tff_controller
Package Summary
Documented
Uses the laser_assembler to generate points clouds from each sweep from PR2's tilting laser mechanism.
- Author: Vijay Pradeep
- License: BSD
- Source: hg https://kforge.ros.org/doors/hg (branch: default)
Note: in electric, this node can be found in the pr2_arm_navigation_perception package.
Nodes
Example
If you wanted to assemble point clouds on the PR2, you could launch something like this:
<launch>
<node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py"
name="laser_cmd"
args="laser_tilt_controller linear 10 1 .35" />
<node type="laser_scan_assembler" pkg="laser_assembler"
name="tilt_scan_assembler">
<remap from="scan" to="tilt_scan"/>
<param name="max_scans" type="int" value="400" />
<param name="fixed_frame" type="string" value="base_link" />
<param name="ignore_laser_skew" type="bool" value="true" />
</node>
<node pkg="pr2_laser_snapshotter" type="pr2_laser_snapshotter" output="screen"
name="snapshotter">
<remap from="laser_scanner_signal"
to="/laser_tilt_controller/laser_scanner_signal"/>
<remap from="full_cloud" to="tilt_laser_cloud" />
</node>
</launch>