Function mrpt::ros2bridge::laserScanToObservation

Defined in File ros_to_mrpt_obs.h

Function Documentation

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::ros2bridge::laserScanToObservation(const sensor_msgs::msg::LaserScan &scan, const mrpt::poses::CPose3D &sensorPose, const std::string &sensorLabel)

Convert a LaserScan message to CObservation2DRangeScan.

Parameters:: sensorPose – The sensor pose in the robot frame (used by mrpt::ros2bridge::fromROS to project rays).