PointCloud2 to scan

[Perception] ROS pointcloud(/PointCloud2, 3D) to laser(/scan, 2D): pointcloud_to_laserscan, velodyne_height_map

💡 본 문서는 'ROS pointcloud(/PointCloud2, 3D) to laser(/scan, 2D)'에 대해 정리해놓은 글입니다. ROS pointcloud(/PointCloud2, 3D) 데이터를 2D 형태(scan)로 변환하는 방법에 대해 정리하였으니 참고하시기 바랍니다. 1. Package: pointcloud_to_laserscan 1) Install package: pointcloud_to_laserscan $ sudo apt install ros-noetic-pointcloud-to-laserscan 2) Setting launch file Subscribed Topics cloud_in (sensor_msgs/PointCloud2): The input point cloud. Pub..