Muilti laser merger to pointcloud2 and laserScan for ROS2.
- ROS Foxy under Ubuntu 20.04 LTS
$ git clone https://github.com/qaz9517532846/laser_merger2.git| Topic | Description |
|---|---|
| scan_0 | Subscriber scan 1st. |
| scan_1 | Subscriber scan 2nd. |
| scan_ | Subscriber num th. |
| pointcloud | Merger pointcloud2 msg. |
| scan | Merger laser scan msg. |
| Parameter | Description |
|---|---|
| target_frame | target tf frame(Default: "base_link"). |
| laser_num | Subscriber laser scan num. |
| transform_tolerance | TF transform tolerance. |
| rate | Publish rate(Hz). |
| queue_size | Subscribe queue size. |
| max_range | Merge laser scan max range. |
| min_range | Merge laser scan min range. |
| max_angle | Merge laser scan max angle. |
| min_angle | Merge laser scan min angle. |
| scan_time | Merge laser scan scan time. |
| angle_increment | Merge laser scan angle increment. |
| inf_epsilon | inf epsilon value. |
| use_inf | use inf. |
$ ros2 run laser_merger2 laser_merger.launch.py- Laser 1 Data
- Laser 2 Data
- Merge Process Data Result
[1]. pointcloud_to_laserscan, https://github.com/ros-perception/pointcloud_to_laserscan
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