Note: This tutorial assumes that you have completed the ROS Tutorials. The code for this stack is available in the roch_robot..
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Using package of roch_sensorpc

Description: Using package of roch_sensorpc

Keywords: PointCloud

Tutorial Level: BEGINNER

Before we begin our tutorial of roch_sensorpc package, we assume you had finished Point Cloud Tutorials, which we used for in this package. And also package with roch_sensorpc is available can be modified.


Usually roch_sensorpc used in roch_navigation with roch_safety_controller, and same as roch_safety_controller, roch_sensorpc also can run alone for a demo.

Steps for roch_sensorpc demo is same as roch_safety_controller.

  • Make sure power on Roch and USB cable to Roch and PC.
  • Make sure launch minimal.

  roslaunch roch_bringup minimal.launch
  • Run launch file demo of roch_sensorpc.

  roslaunch roch_sensorpc standalone.launch
  • Compared with the roch_safety_controller, additional more step is checkout pointcloud.

  rostopic echo /mobile_base/sensors/sensor_pointcloud

And We you nearly with Roch or blocking sensors in front of Roch, you will see topic has publish one data.

Topics & Parameters

For roch_sensorpc launch file, you can checkout there has some topics, and parameters.


There has two topics we need.

  • /pointcloud
    • This topic is pint cloud output topic, default remapping into /mobile_base/sensors/sensor_pointcloud.
  • /core_sensors
    • This topic subscribes roch_base and get sensors status and data for decide whether publish data or not, default remapping into /mobile_base/sensors/core.


There has four parameters we need.

  • pointcloud_radius
    • This default is radius of Roch, so we choose default value 0.25.
  • ult_enable
    • This value decide enable use ult data or not.
  • psd_enable
    • This value decide enable use psd data or not.
  • cliff_enable
    • This value decide enable use cliff data or not.

Wiki: roch_robot/Tutorials/Using package of roch_sensorpc (last edited 2017-03-02 07:02:07 by SawYer)