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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.