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praveen-palanisamy / multiple-object-tracking-lidar

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud
MIT License
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How to publish the RPLidar Data to the Filtered_Cloud rostopic #51

Closed tilexiadam closed 2 years ago

tilexiadam commented 2 years ago

Thank you for this source and sorry if this question has already been answered but I could not manage to do this.

I am using an Slamtec RPlidar and here is a screenshot from RViz:

WhatsApp Image 2022-02-18 at 03 22 26

The problem is, I couldn't figure how to publish the rplidar scan data onto the filtered_cloud rostopic

aldras commented 2 years ago

Please see https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/issues/48

aldras commented 2 years ago

Alter the topic, in the above mentioned "issue" and change it to "scan" as I see in your image. This should grab the point cloud data from your device, if it is indeed outputting on the "scan" topic.

praveen-palanisamy commented 2 years ago

@aldras : Thank you for your comments!

@tilexiadam : If you are still facing this issue, please try this solution. You can rename your existing pointcloud topic (scan from your screenshot) to filtered_cloud using one of the following:

  1. In roslaunch file: <remap from="scan" to="filtered_cloud"/>
  2. On the command-line: rosrun sensor_pkg_name sensor_node_name scan:=filtered_cloud
praveen-palanisamy commented 2 years ago

Closing this since the question has been answered. Feel free to post if you still need help.