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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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coordinationNotation not working correctly with multiScan #222

Closed reinbja closed 8 months ago

reinbja commented 10 months ago

If the coordinationNotation is set to 1 (polar data) no pointcloud will be visualized in rviz.

rostest commented 10 months ago

Thanks for your feedback. To visualize polar pointclouds in rviz, a transform to cartesian coordinates is required. The python script attached converts polar pointclouds (generated with coordinationNotation 1) to cartesian pointclouds, which can be visualized in rviz.

Example to convert polar pointclouds on topic "/cloud_polar_unstructured_fullframe" to cartesian pointclouds on topic "/cloud_polar_to_cartesian":

python3 polar_to_cartesian_pointcloud_ros1.py --polar_topic="/cloud_polar_unstructured_fullframe" --cartesian_topic="/cloud_polar_to_cartesian"

Using this script, rviz shows the converted polar pointcloud on topic "/cloud_polar_to_cartesian".

polar_to_cartesian_pointcloud_ros1.zip