Package Summary

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)

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) ~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) ~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.

Wiki: tinkerforge_laser_transform (last edited 2015-07-06 07:07:13 by Markus Fischer)