ROS 2 pointcloud <-> laserscan converters

This is a ROS 2 package that provides components to convert sensor_msgs/msg/PointCloud2 messages to sensor_msgs/msg/LaserScan messages and back. It is essentially a port of the original ROS 1 package.

pointcloud_to_laserscan::PointCloudToLaserScanNode

This ROS 2 component projects sensor_msgs/msg/PointCloud2 messages into sensor_msgs/msg/LaserScan messages.

Published Topics

• scan (sensor_msgs/msg/LaserScan) - The output laser scan.

Subscribed Topics

• cloud_in (sensor_msgs/msg/PointCloud2) - The input point cloud. No input will be processed if there isn’t at least one subscriber to the scan topic.

Parameters

• min_height (double, default: 2.2e-308) - The minimum height to sample in the point cloud in meters.
• max_height (double, default: 1.8e+308) - The maximum height to sample in the point cloud in meters.
• angle_min (double, default: -π) - The minimum scan angle in radians.
• angle_max (double, default: π) - The maximum scan angle in radians.
• angle_increment (double, default: π/180) - Resolution of laser scan in radians per ray.
• queue_size (double, default: detected number of cores) - Input point cloud queue size.
• scan_time (double, default: 1.0/30.0) - The scan rate in seconds. Only used to populate the scan_time field of the output laser scan message.
• range_min (double, default: 0.0) - The minimum ranges to return in meters.
• range_max (double, default: 1.8e+308) - The maximum ranges to return in meters.
• target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
• transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
• use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.

pointcloud_to_laserscan::LaserScanToPointCloudNode

This ROS 2 component re-publishes sensor_msgs/msg/LaserScan messages as sensor_msgs/msg/PointCloud2 messages.

Published Topics

• cloud (sensor_msgs/msg/PointCloud2) - The output point cloud.

Subscribed Topics

• scan_in (sensor_msgs/msg/LaserScan) - The input laser scan. No input will be processed if there isn’t at least one subscriber to the cloud topic.

Parameters

• queue_size (double, default: detected number of cores) - Input laser scan queue size.
• target_frame (str, default: none) - If provided, transform the laser scan into this frame before converting to a pointcloud. Otherwise, pointcloud will be generated in the same frame as the input laser scan.
• transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.

Changelog for package pointcloud_to_laserscan

2.0.2 (2024-02-16)

• feat: use exported targets (#69)
• Stop using the deprecated tf2_sensor_msgs.h header. (#73)
• Fix default parameters in README (#65)
• fix: update static transfrom publisher arguments (#70)
• Cleanup CMakeLists.txt with ament_cmake_auto (#57)
• Add BSD-3 clause LICENSE
• Contributors: Carlos Andrés Álvarez Restrepo, Chris Lalancette, Daisuke Nishimatsu, Michel Hidalgo

2.0.1 (2021-10-19)

• Replace deprecated launch api (#56)
• Fix linting errors in the code (#52)
• Update README.md
• Contributors: Chris Lalancette, Daisuke Nishimatsu, Paul Bovbel

2.0.0 (2020-02-10)

• ROS 2 Migration (#33) * ROS 2 Migration Signed-off-by: Michel Hidalgo <<michel@ekumenlabs.com>>

• Contributors: Michel Hidalgo

1.4.1 (2019-08-30)

• LaserScan to PointCloud node + nodelet (#28)
• fix roslint (#29)
• Merge pull request #20 from ros-perception/range_max_check Add check for range_max
• Add check for range_max
• Contributors: Paul Bovbel, Rein Appeldoorn

1.4.0 (2017-11-14)

• Added inf_epsilon parameter that determines the value added to max range when use_infs parameter is set to false
• Merge pull request #11 from ros-perception/mikaelarguedas-patch-1 update to use non deprecated pluginlib macro
• Migrate to package format 2; add roslint
• Add sane parameter defaults; fixup lint warnings
• update to use non deprecated pluginlib macro
• Contributors: Mikael Arguedas, Paul Bovbel, Prasanna Kannappan

1.3.1 (2017-04-26)

• Merge pull request #4 from yoshimalucky/fix-miscalculation-in-angle-increment Fixed miscalculation in angle_increment in the launch files.
• fixed miscalculation in angle_increment in the launchfiles.
• Contributors: Paul Bovbel, yoshimalucky

1.3.0 (2015-06-09)

• Fix pointcloud to laserscan transform tolerance issues
• Move pointcloud_to_laserscan to new repository
• Contributors: Paul Bovbel

1.2.7 (2015-06-08)

• Cleanup pointcloud_to_laserscan launch files
• Contributors: Paul Bovbel

1.2.6 (2015-02-04)

• Fix default value for concurrency
• Fix multithreaded lazy pub sub
• Contributors: Paul Bovbel

1.2.5 (2015-01-20)

• Switch to tf_sensor_msgs for transform
• Set parameters in sample launch files to default
• Add tolerance parameter
• Contributors: Paul Bovbel

1.2.4 (2015-01-15)

• Remove stray dependencies
• Refactor with tf2 and message filters
• Remove roslaunch check
• Fix regressions
• Refactor to allow debug messages from node and nodelet
• Contributors: Paul Bovbel

1.2.3 (2015-01-10)

• add launch tests
• refactor naming and fix nodelet export
• set default target frame to empty
• clean up package.xml
• Contributors: Paul Bovbel

1.2.2 (2014-10-25)

• clean up package.xml
• Fix header reference
• Fix flow
• Fix pointer assertion
• Finalize pointcloud to laserscan
• Initial pointcloud to laserscan commit
• Contributors: Paul Bovbel