Getting a constrained point cloud from a laser_scan
Hi,
I am new in ROS and working on extracting constrained point cloud either from laser_scan directly or by first converting the laser_scan into point cloud and then constrained the point cloud to get the desired point cloud.
I am using laser.bag as laser_scan data and I am trying to change the angle_min and max from the already set values to a new desired values, for this I am using a new pointer to input from laser.bag and changed the angle value, but I am unable to get required result.
The angle min and max is -0.84... and 0.8... and I have changed it to -0.45 and 0.45 to get only point cloud in between the angle.
Please help me.
(the constrained is like getting only point cloud up to 10meter range from robot or getting point cloud only like between -45 to 45 while laser_scan is from -90 to 90).
