ROS Q&A | How to merge data from two different lasers

Written by Ricardo Tellez

26/10/2017


Q: How to use ira_laser_tools package to merge laser data

A: the reason why you cannot see in the /scan_multi the obstacles of the back is because you are using the default configuration of the ira_laser_tool. By default, the ira_laser_toolpackage does not produce the /scan_multi from -PI to +PI, but some other weird values.

The solution, is to use the rqt_reconfigure tool to set the angle_min and angle_max parameters to -PI and +PI respectively. To do that, open the tool with the command:

rosrun rqt_reconfigure rqt_reconfigure
You should see something like in the picture attached. Then, just change the angle values. I recommend you change that while watching the scan in rviz so you will see clearly how the scan changes based on your values.

The original question can be found here: https://answers.ros.org/question/273572/how-to-use-ira_laser_tools-package-to-merge-laser-datas/#273809

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