Hi,
While I was following your code, I observed that /hokuyo_points topic contains a set of 8 data values and then the index of the data as per valid range position in /scan topic arrives. I looked into all the header files and all other corresponding functions relevant to this code and the spin_hokuyo package. I am unable to understand where from does this 8 data generate. If I try to relate this with PointCloud2 data fields, I could not correlate them with any meaningful x,y,z coordinates. Is it anyway related to geometry_msgs/TransformStamped Message. There also, translation and rotation comprises of 7 data and frame_idand header comes separately. I checked the /tf topic which provides the translation and rotation. Can you please help me to figure out what I am actually missing here?
Also, projectLaser has been used here and not the transformLaserScanToPointCloud.
Hi, While I was following your code, I observed that
/hokuyo_points
topic contains a set of 8 data values and then theindex
of the data as per valid range position in/scan
topic arrives. I looked into all the header files and all other corresponding functions relevant to this code and thespin_hokuyo
package. I am unable to understand where from does this 8 data generate. If I try to relate this withPointCloud2
data fields, I could not correlate them with any meaningfulx,y,z
coordinates. Is it anyway related togeometry_msgs/TransformStamped Message
. There also,translation
androtation
comprises of 7 data andframe_id
andheader
comes separately. I checked the/tf
topic which provides thetranslation
androtation
. Can you please help me to figure out what I am actually missing here?Also,
projectLaser
has been used here and not thetransformLaserScanToPointCloud
.thanks, Anindya