lrs_tools

Description

This is a ros package that summarizes LRS-related nodes.

Contents

scripts/lrs_to_pc2.py

This node converts LRS scan topic to PointCLoud2 topic.

Subscribe

• lrs_topic : sensor_msgs/LaserScan

Publish

• lrs_pc2_topic : sensor_msgs/PointCloud2

launch/lrs_to_pc2.launch

This launch file launches lrs_to_pc2.py.

Parameters

• lrs_topic : LRS topic name (ex. /lrs/scan)
• lrs_pc2_topic : Converted PointCloud2 topic name

Usage

roslaunch lrs_tools lrs_to_pc2.launch lrs_topic:="/lrs/scan" lrs_pc2_topic:="lrs/scan/pc2"