SphericalPointCloudSimulator

../../_images/spherical_pointcloud_simulator1.png

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