The laser_scan_sparsifier package is used to downsample sensor_msgs/LaserScan messages.

Nodes & Nodelets

Two drivers are available: laser_scan_sparsifier_nodelet and laser_scan_sparsifier_node. Their parameters and topics are identical.

laser_scan_sparsifier_node / laser_scan_sparsifier_nodelet

The laser_scan_sparsifier takes in sensor_msgs/LaserScan messages, and downsamples it by a given step size.

Subscribed Topics

scan (sensor_msgs/LaserScan)
  • Input scan

Published Topics

scan_sparse (sensor_msgs/LaserScan)
  • Output scan


~step (int, default: 2)
  • Step size for decimation (must be > 0). A step size of 1 means the output scan will be the same as the input scan. A step size of 2 means the output scan will be half the input scan, etc.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through github (requires github account) or by emailing the maintainers.

Wiki: laser_scan_sparsifier (last edited 2012-08-31 20:26:35 by IvanDryanovski)