omcandido / vrep_plugin_velodyne

V-REP plugin that publishes a full revolution of PointCloud2 point into ROS

https://www.robesafe.uah.es/index.php/en/smartelderlycar

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publishing pointcloud local frame version added #3

Open gyubeomim opened 6 years ago

gyubeomim commented 6 years ago

by using define method, I added a local publishing version codes

gyubeomim commented 6 years ago

fixed issues for local frame orientation
When we used global frame version of pointcloud, we didn't have to worry about global frame's orientation. but If we use local frame, things are different. we have to care about local frame's orientation while robots are moving

Before fixing local frame's orientation

selection_017

After

selection_016

need to added

this code should be added in your velodyne sensor's script to use local frame version I uploaded demo.ttt for more detail.

gyubeomim commented 6 years ago

fixed Local frame's display points in V-Rep when you are using Local Frame - 180215

gyubeomim commented 6 years ago

fixed local_frame_mat[12] variable problem - 180523