SphericalPointCloudSimulator

Simulate a pointcloud which is acquired by spindle laser. Sensor model is spherical laser.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    This topic is only used to synchronize timestamp of ~output pointcloud to certain pointcloud. If no ~frame_id is specified, frame_id of ~input is copied to ~output.

Publishing Topics

  • ~output (sensor_msgs/PointCloud2)

    Simulated pointcloud.

Parameters

  • ~frame_id (String, default: None)

    frame_id of output pointcloud. If not specified, frame_id of ~input is copied.

  • ~r (Double, default: 3.0)

    Radius of spherical model.

  • ~min_phi (Double, default: 0.0)

    Minimum angle of scanning plane.

  • ~max_phi (Double, default: 2pi)

    Maximum angle of scanning plane.

  • ~scan_range (Double, default: 4.7)

    Scan range of laser. The default value is same to hokuyo’s parameter.

  • ~scan_num (Integer, default: 1081)

    The number of points in one scan of laser. The default value is same to hokuyo’s parameter.

  • ~fps (Double, default: 40)

    Fps of laser sensor. The default value is same to hokuyo’s parameter.

Sample

roslaunch jsk_pcl_ros laser_camera_fov_sample.launch