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alexsleat / projectChimaera

Rinzler is an exceptionally skilled warrior and is the elite combatant in all games in the Grid.
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Sonar - convert data into laserScanMsg #60

Closed GarethG closed 12 years ago

GarethG commented 12 years ago

There is example code on how to do this in the sonarSpammer node, the data is timestamped and can be viewed in Rviz as LaserScanMsg

alexsleat commented 12 years ago

Added in to sonar2.

Needs testing.

alexsleat commented 12 years ago

This is done, however the timing calculated doesn't work so some trial and error was used to fix but it's tuned perfectly.

ghost commented 12 years ago

Done! Converts sonar data into a PointCloud2 message which we buffer using pointcloud throttle and put into the pointcloud_to_laserscan node.