Documentation Status

Cannot load information on name: pr2_laser_snapshotter, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
pr2_doors: ANN_doors | door_handle_detector | door_msgs | pr2_doors_actions | pr2_doors_common | pr2_doors_executive | pr2_laser_snapshotter | tff_controller

Package Summary

Documented

Uses the laser_assembler to generate points clouds from each sweep from PR2's tilting laser mechanism.

Cannot load information on name: pr2_laser_snapshotter, distro: groovy, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: pr2_laser_snapshotter, distro: hydro, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: pr2_laser_snapshotter, distro: indigo, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: pr2_laser_snapshotter, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: pr2_laser_snapshotter, distro: kinetic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: pr2_laser_snapshotter, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: pr2_laser_snapshotter, distro: melodic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Contents

  1. Nodes
  2. Example

Note: in electric, this node can be found in the pr2_arm_navigation_perception package.

Nodes

Example

If you wanted to assemble point clouds on the PR2, you could launch something like this:

<launch>
  <node pkg="pr2_mechanism_controllers" type="send_periodic_cmd_srv.py"
        name="laser_cmd"
        args="laser_tilt_controller linear 10 1 .35" />

  <node type="laser_scan_assembler" pkg="laser_assembler"
        name="tilt_scan_assembler">
    <remap from="scan" to="tilt_scan"/>
    <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="base_link" />
    <param name="ignore_laser_skew" type="bool" value="true" />
  </node>

  <node pkg="pr2_laser_snapshotter" type="pr2_laser_snapshotter" output="screen"
        name="snapshotter">
    <remap from="laser_scanner_signal"
           to="/laser_tilt_controller/laser_scanner_signal"/>
    <remap from="full_cloud" to="tilt_laser_cloud" />
  </node>
</launch>

Wiki: pr2_laser_snapshotter (last edited 2011-09-30 22:18:47 by Lorenz Mösenlechner)