Assembling Laser scans into PCL point cloud Using Gazebo and ROS

For this work, first I loaded the RRBot in Gazebo and
launched Its joints controller, then I sent a periodic signal to the robot such that the laser scanner mounted on the robot swings.

In the following, I assembled the incoming laser scans with the transformation from tf and created PCL point cloud.

Install the necessary package:

Add the path to ROS_PACKAGE_PATH

set the second joint value

(/rrbot/joint2_position_controller/command)  into (pi/4)+(1*pi/4)*sin(i/40)*sin(i/40)

and the frequency into 50 Hz.

Laser Assembler:

Finally, run:

Create a launch file and save the following lines to it and run it with roslaunch:

source code at my git hub

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Ahmet KAĞIZMAN
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Ahmet KAĞIZMAN

Hi Mr. Asadi
I sent you an e mail about this code. would you mind if I could look at your mail?

steve
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steve

Hi
when ı run rqt_gui rqt_gui ,does not show topic lists (rrbot/joint1…)with equations. Why ?