simple_laser_geometry package from slg_msgs repo


Package Summary

Tags No category tags.
Version 3.2.0
License MIT
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version melodic-devel
Last Updated 2022-06-16
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains classes and messages to interact with laser related geometry. Useful to use with LaserScan.

Additional Links

No additional links.


  • Alberto Tudela


  • Alberto Tudela


ROS License Compiling Test


ROS package that contains classes and messages to interact with laser related geometry and functions to convert them to ROS standard. Useful to use with LaserScan. Contains three classes:

  • Point2D

    Faster point class based on PCL but with unnecesary 3D functions.

  • Segment2D

    Extension of class Point to handle segments.

  • Polygon

    Struct that defines a polygon and functions related.

And three custom messages: * Segment

Message based on the class mention before.
  • SegmentStamped

    Segment message with header.

  • SegmentArray

    An array of Segment message with header.


^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package simple_laser_geometry ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

3.2.0 (10-01-2022)

  • Added ability to create NaN point.

3.1.0 (16-12-2021)

  • Added string enums.

3.0.0 (15-12-2021)

  • Using slg namespace for Point2D, Segment2D and polygon.

2.1.0 (15-12-2021)

  • Adding conversion for polygon to geometry_msgs.

2.0.0 (13-12-2021)

  • Rename internal message field to comply with ROS standard.

1.1.0 (13-12-2021)

  • Adding conversion for Point2D to geometry_msgs.

1.0.3 (21-07-2021)

  • Now using slg namespace.

1.0.2 (19-07-2021)

  • Added segment2D to PCL conversion.

1.0.0 (16-07-2021)

  • Initial release.
  • Create
  • Create CHANGELOG.rst.
  • Create LICENSE.
  • Added Point2D, Segment2D and Polygon classes.
  • Added Segment.msg, SegmentStamped.msg and SegmentArray.msg messages.
  • Added conversions (.h and .cpp files).
  • Contributors: Alberto Tudela

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found


No service files found


No plugins found.

Recent questions tagged simple_laser_geometry at