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Dependencies (11)
Jenkins jobs (2)

Package Summary

Continuous integration Documented

Subscribe pcl data from laserscanner and transform it with tinkerforge imu orientation to new pcl

Maintainer status: developed
Maintainer: M. Fischer <fischerm AT htw-dresden DOT de>
Author: M.Fischer
License: MIT
Source: git https://github.com/gus484/ros.git (branch: master)

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Contents

ROS Node API
1. tinkerforge_laser_transform_node

ROS Node API

tinkerforge_laser_transform_node

This node transform the laser scanner point cloud with tinkerforge sensor data.

Subscribed Topics

/cloud (sensor_msgs/PointCloud2)

Subscribe to laser scanner data for transformation.

Published Topics

/imu/data (sensor_msgs/Imu)

Publishes tinkerforge imu brick data.

/gps/fix (sensor_msgs/NavSatFix)

Publishes tinkerforge gps bricklet data.

/odom (nav_msgs/Odometry)

Publishes odometry data.

/magnetic/data (sensor_msgs/MagneticField)

Publishes tinkerforge magnetic field data (from imu).

/cloud_world (sensor_msgs/PointCloud2)

Publishes the transformed point cloud.

Parameters

~rate (int, default: 10)

Rate for the main loop.

~imu_topic (string, default: /imu/data)

Title for the published IMU topic.

~gps_topic (string, default: /gps/fix)

Title for the published GPS topic.

~odo_topic (string, default: odom)

Title for the published Odometry topic.

~mf_topic (string, default: /magnetic/data)

Title for the MagneticField topic.

~imu_msgs (bool, default: true)

Enable IMU topic publish.

~gps_msgs (bool, default: false)

Enable GPS topic publish.

~odo_msgs (bool, default: true)

Enable Odometry topic publish.

~mf_msgs (bool, default: false)

Enable MagneticField topic publish.

~pcl_in_topic (string, default: /cloud)

Title for subscribed pcl data.

~pcl_out_topic (string, default: /cloud_world)

Title for published and transformed pcl data.

imu_convergence_speed (int, default: 20)

Define the sensor fusion in °/s.

laser_pose (array, default: [3.17, 0.7, 2.1, -25.0, 20.0, -90.0])

Define the laser pose x, y, z, yaw, pitch, roll in m and deg.

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