README

Velodyne ROS 2 pointcloud to laserscan converter

This is a ROS 2 package that takes pointcloud data as output by one of the velodyne_pointcloud nodes and converts it to a single laserscan.

Published Topics

scan (sensor_msgs/LaserScan) - The laserscan that results from taking one line of the pointcloud.

Subscribed Topics

velodyne_points (sensor_msgs/PointCloud2) - The pointcloud that results from the raw velodyne data.

Parameters

ring (int) - The “ring” of the Velodyne to use for the single line. If less than 0, a default ring per device will be used. Defaults to -1.
resolution (double) - The resolution in meters that each point provides. Defaults to 0.007.