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It worked. The tutorial documentation is little confusing. After reading the tutorial, it feels like the input topic to the laser_assembler is tilt_scan. However, if you see the code in laser_scan_assembler.cpp, it turns out that the subscribed topic is /scan.

After realizing that the required topic is scan and not tilt_scan, I tried to do remapping as follows:

    <launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
 <remap from="tilt_sca" to="scan"/>
   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

However, it still produced 0 point clouds. Finally, running the bag file as rosbag play --clock bagfiles/b.bag /tilt_scan:=/scan helped me get the point clouds. Don't do remapping inside the launch file. Just do it when you are playing bag file..

Let me know if anyone faces problem in using laser_assembler

It worked. worked finally!!!. The tutorial documentation is little confusing. After reading the tutorial, it feels like the input topic to the laser_assembler is tilt_scan. However, if you see the code in laser_scan_assembler.cpp, it turns out that the subscribed topic is /scan.

After realizing that the required topic is scan and not tilt_scan, I tried to do remapping as follows:

    <launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
 <remap from="tilt_sca" to="scan"/>
   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

However, it still produced 0 point clouds. Finally, running the bag file as rosbag play --clock bagfiles/b.bag /tilt_scan:=/scan helped me get the point clouds. Don't do remapping inside the launch file. Just do it when you are playing bag file..

Let me know if anyone faces problem in using laser_assembler

It worked finally!!!. The tutorial documentation is little confusing. After reading the tutorial, it feels like the input topic to the laser_assembler is tilt_scan. However, if you see the code in laser_scan_assembler.cpp, it turns out that the subscribed topic is /scan.

After realizing that the required topic is scan and not tilt_scan, I tried to do remapping as follows:

    <launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
 <remap from="tilt_sca" from="tilt_scan" to="scan"/>
   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

However, it still produced 0 point clouds. Finally, running the bag file as rosbag play --clock bagfiles/b.bag /tilt_scan:=/scan helped me get the point clouds. Don't do remapping inside the launch file. Just do it when you are playing bag file..

Let me know if anyone faces problem in using laser_assembler

It worked finally!!!. The tutorial (http://wiki.ros.org/laser_assembler/Tutorials/HowToAssembleLaserScans) documentation is little confusing. After reading the tutorial, it feels like the input topic to the laser_assembler is tilt_scan. However, if you see the code in laser_scan_assembler.cpp, it turns out that the subscribed topic is /scan.

After realizing that the required topic is scan and not tilt_scan, I tried to do remapping as follows:

    <launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
 <remap from="tilt_scan" to="scan"/>
   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

However, it still produced 0 point clouds. Finally, running the bag file as rosbag play --clock bagfiles/b.bag /tilt_scan:=/scan helped me get the point clouds. Don't do remapping inside the launch file. Just do it when you are playing bag file..

Let me know if anyone faces problem in using laser_assembler

It worked finally!!!. The tutorial (http://wiki.ros.org/laser_assembler/Tutorials/HowToAssembleLaserScans) documentation is little confusing. After reading the tutorial, it feels like the input topic to the laser_assembler is tilt_scan. However, if you see the code in laser_scan_assembler.cpp, it turns out that the subscribed topic is /scan.

After realizing that the required topic is scan and not tilt_scan, I tried to do remapping as follows:

    <launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
 <remap from="tilt_scan" to="scan"/>
   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

However, it still produced 0 point clouds. Finally, running the bag file as rosbag play --clock bagfiles/b.bag /tilt_scan:=/scan helped me get the point clouds. Don't do remapping inside the launch file. Just do it when you are playing bag file..

Let me know if anyone faces problem in using laser_assembler

<launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
    <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 0 0 0 0 map odom_combined 10"/>

</launch>