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The laser_pipeline stack is intended to do the necessary processing to get from the output of a scanning laser rangefinder to a more useful 3D representation of a point cloud. This processing takes three distinct steps:

For an end-user higher up the system, the laser_assembler is actually capable of performing all 3 of these steps, implementing an arbitrary filter chain on its input, performing a high-fidelity transformation to a point cloud internally, and then making clouds available via a ROS service call.

Lower-level users with specific needs, however, may want to write their own special-purpose filters, or custom laser processing nodes.

Point Clouds

Point clouds generated using the laser pipeline results in a sensor_msgs/PointCloud or (New in diamondback) sensor_msgs/PointCloud2 message. This point cloud can have the following channels attached to it:

New in diamondback

Hardware Requirements

The laser_pipeline assumes that you have a scanning laser rangefinger. The most common examples of these are the Hokuyo UTM and the Sick LMS. The laser_drivers stack provides drivers for these particular models. However, any driver which outputs the sensor_msgs/LaserScan, including gazebo, can be used as the input to this pipeline.

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<<TracLink(ros-pkg laser_pipeline)>>


RViz screenshot of laser_scan messages from a tilting laser rangefinder data being projected into 3D.

2024-07-13 13:18