Laser scanners are sensors of widespread use in robotic applications. Under the Robot Operating System (ROS) the information generated by laser scanners can be conveyed by either LaserScan messages or in the form of PointClouds. Many publicly available algorithms (mapping, localization, navigation, etc.) rely on LaserScan messages, yet a tool for handling multiple lasers, merging their measurements, or to generate generic LaserScan messages from PointClouds, is not available. This report describes two tools, in the form of ROS nodes, which we release as open source under the BSD license, which allow to either merge multiple single-plane laser scans or to generate virtual laser scans from a point cloud. A short tutorial, along with the main advantages and limitations of these tools are presented.

Ballardini, A., Fontana, S., Furlan, A., Sorrenti, D. (2014). ira_laser_tools: a ROS LaserScan manipulation toolbox [Rapporto tecnico].

ira_laser_tools: a ROS LaserScan manipulation toolbox

BALLARDINI, AUGUSTO LUIS
Primo
;
FONTANA, SIMONE
Secondo
;
FURLAN, AXEL
Penultimo
;
SORRENTI, DOMENICO GIORGIO
Ultimo
2014

Abstract

Laser scanners are sensors of widespread use in robotic applications. Under the Robot Operating System (ROS) the information generated by laser scanners can be conveyed by either LaserScan messages or in the form of PointClouds. Many publicly available algorithms (mapping, localization, navigation, etc.) rely on LaserScan messages, yet a tool for handling multiple lasers, merging their measurements, or to generate generic LaserScan messages from PointClouds, is not available. This report describes two tools, in the form of ROS nodes, which we release as open source under the BSD license, which allow to either merge multiple single-plane laser scans or to generate virtual laser scans from a point cloud. A short tutorial, along with the main advantages and limitations of these tools are presented.
Rapporto tecnico
Scientifica
ros, laser scanner, laser merge, laser virtualize, point cloud
English
Ballardini, A., Fontana, S., Furlan, A., Sorrenti, D. (2014). ira_laser_tools: a ROS LaserScan manipulation toolbox [Rapporto tecnico].
Ballardini, A; Fontana, S; Furlan, A; Sorrenti, D
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/54134
Citazioni
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
Social impact