PointCloud2 to FlatScan contains no Data

[Floskinner]

What I do

Start the pointcloud to flatscan launch file:

ros2 launch isaac_ros_pointcloud_utils isaac_ros_pointcloud_to_flatscan.launch.py

Start the FlatScan to LaserScan (to see the result in rviz)

ros2 launch isaac_ros_pointcloud_utils isaac_ros_flatscan_to_laserscan.launch.py

Start publishing my ros2 bag with the sensor_msgs/msg/PointCloud2 messages:

ros2 bag play my_rosbag

What I expect

The PointCloud2 messages are converted into FlatScan and into LaserScan.

The Problem

The FlatScan / LaserScan contain no Data:

FlatScan

header: stamp: sec: 1693559265 nanosec: 6811791 frame_id: camera_3d_optical_link range_min: 0.0 range_max: 0.0 angles: - 0.0 - 0.0 ...ONLY MORE 0.0... intensities: []

My enviorment

The PointCloud2 Data is valid. I can show them in rviz and if I "echo" them I got data in it. The topic is /pointcloud

PointCloud

 header: stamp: sec: 1693559265 nanosec: 6811791 frame_id: camera_3d_optical_link height: 172 width: 224 fields: - name: x offset: 0 datatype: 7 count: 1 - name: y offset: 4 datatype: 7 count: 1 - name: z offset: 8 datatype: 7 count: 1 is_bigendian: false point_step: 12 row_step: 2688 data: CUT SOME 0 VALUES - 63 - 225 - 233 - 52 - 63 - 34 - 167 - 214 - 190 - 224 - 221 - 80 - 63 - 167 - 102 - 54 - 63 - 208 - 247 - 213 - 190 - 152 - 251 - 78 - 63 - 134 - 113 - 59 - 63 - 233 - 130 - 217 - 190 - 92 - 28 - 81 - 63 CUT SOME MORE VALUES

I use the master Branche and the docker container. I already used only LaserScan for the pose estimation with the same setup (it worked). So I guess the container is setup correct.

My Hardware is a Jetson Orin Nano Developer Kit.

[jaiveersinghNV]

Could you please try this again on our latest release?

If you're still experiencing this issue, please upload a rosbag with your sample data, and we'll try to replicate this problem on our end.