velodyne_laserscan

Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message

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.