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laser_assembler -> problems with ignore_laser_skew

Hi, I have a tilting laser scanner and i am converting the scans to a point cloud with the laser_assembler package. So far everything works fine except of the ignore_laser_skew. If I deactivate the ignore_laser_skew (set to false), each single point of a scan should be transformed with the tf from that exact time, right? So if the scanner is titling really fastly, I should get somewhat diagonal lines. Unfortunately, I can't see any difference between ignore_laser_skew=true and ignore_laser_skew=false and so there are quite big errors in the point cloud, if the scanner is tilting fastly. The tf is updated at 100 Hz, the scans are published at 5 Hz on the topic /tilt_scan. I'm using ros kinetic. Below you can see the launch file for the laser_assembler and the python script to call the assemble scans service. Any ideas would could be wrong? Or did i get the purpose of ignore_laser_skew incorrectly? Thanks in advance! Launch file: script: #!/usr/bin/env python import roslib; roslib.load_manifest('laser_assembler') import rospy; from laser_assembler.srv import * from sensor_msgs.msg import PointCloud rospy.init_node("assemble_scan_client") rate = rospy.Rate(0.5) while not rospy.is_shutdown(): rospy.wait_for_service("assemble_scans") try: assemble_scans = rospy.ServiceProxy('assemble_scans', AssembleScans) resp = assemble_scans(rospy.Time(0,0), rospy.get_rostime()) print "Got cloud with %u points" % len(resp.cloud.points) pub=rospy.Publisher('laser_cloud', PointCloud, queue_size=10) pub.publish(resp.cloud) except rospy.ServiceException, e: print "Service call failed: %s"%e rate.sleep()

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