Muilti laser merger to pointcloud2 and laserScan for ROS2.
- ROS Foxy under Ubuntu 20.04 LTS
$ git clone https://github.com/qaz9517532846/laser_merger2.git
Topic | Description |
---|---|
scan_0 | Subscriber scan 1st. |
scan_1 | Subscriber scan 2nd. |
scan_ | Subscriber num th. |
pointcloud | Merger pointcloud2 msg. |
scan | Merger laser scan msg. |
Parameter | Description |
---|---|
target_frame | target tf frame(Default: "base_link"). |
laser_num | Subscriber laser scan num. |
transform_tolerance | TF transform tolerance. |
rate | Publish rate(Hz). |
queue_size | Subscribe queue size. |
max_range | Merge laser scan max range. |
min_range | Merge laser scan min range. |
max_angle | Merge laser scan max angle. |
min_angle | Merge laser scan min angle. |
scan_time | Merge laser scan scan time. |
angle_increment | Merge laser scan angle increment. |
inf_epsilon | inf epsilon value. |
use_inf | use inf. |
$ ros2 run laser_merger2 laser_merger.launch.py
[1]. pointcloud_to_laserscan, https://github.com/ros-perception/pointcloud_to_laserscan
This repository is for your reference only. copying, patent applications, and academic journals are strictly prohibited.
Copyright © 2023 ZM Robotics Software Laboratory.