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scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_splitter | ncd_parser | polar_scan_matcher

Package Summary

The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | scan_to_cloud_converter

Package Summary

The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | scan_to_cloud_converter

Package Summary

The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski, William Morris
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)
scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski, William Morris
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)
scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski, William Morris
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)

laser_scan_splitter.png

Details

The laser_scan_splitter takes in a sensor_msgs/LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic.

Example

You can run the laser_scan_splitter on a pre-recorded bag file that comes with the package. First, make sure you have the scan_tools stack downloaded and installed by following the instructions here.

Next, make sure you have the necessary tools installed:

   1 rosmake rviz rosbag

Finally, run the demo:

   1 roslaunch laser_scan_splitter demo.launch

You should see a result similar to the video below. The 3 laser scan messages displayed in rviz are obtained by splitting the original scan.

Nodes & Nodelets

Two drivers are available: laser_scan_splitter_node and laser_scan_splitter_nodelet. Their parameters and topics are identical.

laser_scan_splitter_node / laser_scan_splitter_nodelet

The laser_scan_splitter_node takes in sensor_msgs/LaserScan messages, splits them, and outputs the resulting messages.

Subscribed Topics

scan (sensor_msgs/LaserScan)

Published Topics

~scan_[n] (sensor_msgs/LaserScan)

Parameters

~sizes (string, default: "256 256") ~topics (string, default: "scan_1 scan_2") ~frames (string, default: "laser laser")

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through github (requires github account) or by emailing the maintainers.


2019-11-16 12:59