How to use LaserScan messages instead of PointCloud2?

[chumingqian]

Closing the issue as the question was answered. Reopen if you need more info. Thanks!

Originally posted by @praveen-palanisamy in #9 (comment)

[chumingqian]

Hi,palanisamy:
@praveen-palanisamy thanks for your sharing, and i have a question.
In src/main.cpp line 21 : #include <sensor_msgs/PointCloud2.h>
data type is pointCloud2.msg.
However , my data type is a LaserScan.msg. When i run the code, i got the error sth about datatype mistake, how should i solve this , could you give a guide , thanks in advance .

[Praveen Palanisamy]

Hi @chumingqian ,
You can use the laser_geometry ROS package to convert your LaserScan messages to PointCloud2 message.
Here's a code example:

laser_geometry::LaserProjection projector_;

void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
  sensor_msgs::PointCloud2 point_cloud;
  projector_.projectLaser(*scan_in, point_cloud);

  // You can now use point_cloud
}

[chumingqian]

Hi @chumingqian ,
You can use the laser_geometry ROS package to convert your LaserScan messages to PointCloud2 message.
Here's a code example:

laser_geometry::LaserProjection projector_;

void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
  sensor_msgs::PointCloud2 point_cloud;
  projector_.projectLaser(*scan_in, point_cloud);

  // You can now use point_cloud
}

It worked ,thank you so much!!!