/cloud_in not identical to /cloud

[schreiterjp]

Hi,

trying to use the pointcloud to lidarscan.

Source is a Robosense RSlidar M1 configured to publish pointcloud2 msg to topic /rslidar_points.

Pointcloud is republished by topic_tools relay to topic /cloud_in.

Node launched with ros2 launch pointcloud_to_laserscan sample_pointcloud_to_laserscan_launch.py works with no errors.

Both pointclouds are mapped to the same frame.

Expected behaviour: Topics /cloud_in (/rslidar_points) (colored pointcloud) and /cloud (white cloud) are the same.

Observed behaviour: The pointclouds /cloud_in isn’t identical to /cloud.

I hope the attached screenshot will clarify the problem.

Ubuntu 18.04 (Host) - Ros2 Eloquent Ubuntu 22.04 (Docker) - Ros2 Humble

Thanks

[schreiterjp]

Is it possible that this is the pointcloud published by the demo publisher node and for some reason the real input cloud isnt considered as input?

[schreiterjp]

Source cloud needs to be published to /scanner/cloud_in and the dummy pointcloud needs to be deactivated in the launchscript.

Finally working!