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ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo
http://wiki.ros.org/gazebo_ros_pkgs
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libgazebo_ros_block_laser support for PointCloud2 #50

Open ZdenekM opened 11 years ago

ZdenekM commented 11 years ago

Plugin currently publishes sensor_msgs/PointCloud. Would be nice to change it to PointCloud2 as it's more widely used.

davetcoleman commented 11 years ago

+1 Or have an option for either but it defaults to the newer PointCloud2

rohanbhargava11 commented 10 years ago

Hi, I wanted the same functionality for a project. I have changed the code to publish PointCloud2. I am not sure how to include the option for both. As of now I add the option in the urdf file by

plugin name="${name}_tof_controller" filename="libgazebo_ros_block_laser.so> topicName ${ros_topic} /topicName alwaysOn true /alwaysOn updateRate ${update_rate} /updateRate pcl 1.0 /pcl gaussianNoise ${noise} /gaussianNoise frameName ${name}_link /frameName (had to get rid of <>) Is this okay or there should be ros parameter for it?

j-rivero commented 8 years ago

see pull request #413

OliEfr commented 7 years ago

Hi, I use the block_laser plugin. @rohanghargava11 said, that he managed the output with pcl2. However, i cant find, where this changes were made. How can i publish pcl with the plugin as well?

Furthermore, i see the end of the laser-rays as published points. How can i avoid that?

Greetings, oli @ZdenekM

kev-the-dev commented 6 years ago

Fixed in #413 (merged), can close issue.

Actually that PR was not merged. Feel free to contribute a PR which would do this, though it should preserve the default behavior (perhaps have a flag)