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: 0.0) - The minimum height to sample in the point cloud in meters.
• max_height (double, default: 1.0) - The maximum height to sample in the point cloud in meters.
• angle_min (double, default: -π/2) - The minimum scan angle in radians.
• angle_max (double, default: π/2) - The maximum scan angle in radians.
• angle_increment (double, default: π/360) - 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. Used to populate the output laser scan.
• range_min (double, default: 0.45) - The minimum ranges to return in meters.
• range_max (double, default: 4.0) - 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 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.