============== |package_name| ============== :ir_github:` ` Overview -------- The ROS nodes in this package allows for `sensor_msgs::msg::PointCloud2 `__ and `sensor_msgs::msg::LaserScan `__ to be converted to :ir_repo:`isaac_ros_pointcloud_interfaces::msg::FlatScan ` which can then be used with the :doc:`isaac_ros_occupancy_grid_localizer `. API ---- Isaac ROS PointCloud to FlatScan ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Usage ^^^^^ .. code:: bash ros2 launch isaac_ros_pointcloud_utils isaac_ros_pointcloud_to_flatscan.launch.py ROS Parameters ^^^^^^^^^^^^^^ ==================== ====== ========== ================================================================================ ROS Parameter Type Default Description ==================== ====== ========== ================================================================================ ``threshold_x_axis`` bool ``false`` Enable X Axis Threshold ``threshold_y_axis`` bool ``false`` Enable Y Axis Threshold ``min_x`` double ``-1.0`` Min X axis threshold ``max_x`` double ``1.0`` Max X axis threshold ``min_y`` double ``-1.0`` Min Y axis threshold ``max_y`` double ``1.0`` Max Y axis threshold ``min_z`` double ``-0.1`` Min Z axis threshold ``max_z`` double ``0.1`` Max Z axis threshold ``max_points`` int ``150000`` Maximum number of 3D points in input Point Cloud used to pre allocate GPU memory ==================== ====== ========== ================================================================================ ROS Topics Subscribed ^^^^^^^^^^^^^^^^^^^^^ ============== ========================================================================================================================= ================= ROS Topic Type Description ============== ========================================================================================================================= ================= ``pointcloud`` `sensor_msgs::msg::PointCloud2 `__ Input Point Cloud ============== ========================================================================================================================= ================= ROS Topics Published ^^^^^^^^^^^^^^^^^^^^ ============ =============================================================================================================================== ================ ROS Topic Type Description ============ =============================================================================================================================== ================ ``flatscan`` :ir_repo:`isaac_ros_pointcloud_interfaces::msg::FlatScan ` Output Flat Scan ============ =============================================================================================================================== ================ Isaac ROS LaserScan to FlatScan ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Usage ^^^^^ .. code:: bash ros2 launch isaac_ros_pointcloud_utils isaac_ros_laserscan_to_flatscan.launch.py ROS Topics Subscribed ^^^^^^^^^^^^^^^^^^^^^ ========= ===================================================================================================================== =============== ROS Topic Type Description ========= ===================================================================================================================== =============== ``scan`` `sensor_msgs::msg::LaserScan `__ Input LaserScan ========= ===================================================================================================================== =============== ROS Topics Published ^^^^^^^^^^^^^^^^^^^^ ============ =============================================================================================================================== ================ ROS Topic Type Description ============ =============================================================================================================================== ================ ``flatscan`` :ir_repo:`isaac_ros_pointcloud_interfaces::msg::FlatScan ` Output Flat Scan ============ =============================================================================================================================== ================ Isaac ROS FlatScan to LaserScan ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Usage ^^^^^ .. code:: bash ros2 launch isaac_ros_pointcloud_utils isaac_ros_flatscan_to_laserscan.launch.py ROS Parameters ^^^^^^^^^^^^^^ ====================== ====== ============== =============================================================================================================================== ROS Parameter Type Default Description ====================== ====== ============== =============================================================================================================================== ``angle_min`` double ``0.0`` The starting angle of the generated LaserScan ``angle_max`` double ``2 * M_PI`` The ending angle of the generated LaserScan ``angle_increment`` double ``M_PI / 180`` The angle increment per LaserScan reading ``time_increment`` double ``0.0001`` The time increment per LaserScan reading ``max_range_fallback`` double ``200.0`` If the Max Range of the input FlatScan == 0, then this parameter is used to populate 'Max Range' field of the output LaserScan. ====================== ====== ============== =============================================================================================================================== ROS Topics Subscribed ^^^^^^^^^^^^^^^^^^^^^ ============ =============================================================================================================================== =============== ``flatscan`` :ir_repo:`isaac_ros_pointcloud_interfaces::msg::FlatScan ` Input Flat Scan ============ =============================================================================================================================== =============== ROS Topics Published ^^^^^^^^^^^^^^^^^^^^ ========= ===================================================================================================================== =============== ROS Topic Type Description ========= ===================================================================================================================== =============== ``scan`` `sensor_msgs::msg::LaserScan `__ Input LaserScan ========= ===================================================================================================================== =============== .. |package_name| replace:: ``isaac_ros_pointcloud_utils``