SphericalPointCloudSimulator¶
Simulate a pointcloud which is acquired by 3D laser range finder such as tilt laser in PR2.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Trigger message to simulate pointcloud.
Only timestamp of this message will be used.
Publishing Topics¶
~output
(sensor_msgs/PointCloud2
)Simulated spherical pointcloud.
Parameters¶
~rate
(Float, default:None
)If this parameter is specified, this node will publish
~output
at this rate [Hz], in addition to callback of~input
.~frame_id
(String, default:~input.header.frame_id
)Frame ID of
~output
.~r
(Float, default:3.0
)Radius of spherical point cloud in [m].
This parameter can be changed by
dynamic_reconfigure
.~min_phi
(Float, default:0.0
)~max_phi
(Float, default:3.14
)Minimum/maximum rotation angle of scanning in [rad].
These parameters can be changed by
dynamic_reconfigure
.~scan_range
(Float, default:4.71
)Range of each scan in [rad].
This parameter can be changed by
dynamic_reconfigure
.~scan_num
(Int, default:1081
)Number of distance observation in each scan.
This parameter can be changed by
dynamic_reconfigure
.~fps
(Float, default:40.0
)Rate of observing each scan in [Hz].
This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros_utils sample_spherical_pointcloud_simulator.launch