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