The pointcloud_to_laserscan package is not working properly in ROS Indigo. The Indigo build is done recently and seems to contain some error. As required by the node I have published the pointcloud data from Kinect in PointCloud2 format in /cloud_in topic. But the laserscan data that must be produced and published by Kinect in /scan topic seems erroneous. It returns an array full of 'Inf'. Please fix the error.
My code for publishing in /cloud_in is as follows,
#!/usr/bin/env python
import roslib
import rospy
import geometry_msgs.msg
from sensor_msgs.msg import PointCloud2
def callback(data):
pub = rospy.Publisher('/cloud_in', PointCloud2,queue_size=10)
pub.publish(data)
def pcl_2D():
rospy.init_node('pcl_2D', anonymous=True)
global listener
rospy.Subscriber("/camera/depth/points", PointCloud2, callback)
rospy.spin()
if __name__=='__main__':
pcl_2D()
I have attached the rosbag which contains the data in topics `/cloud_in` `/rosout` and erroneous `/scan`. Each topics have 10 msgs published. I have compressed the bag using rosbag compress . Please use `rosbag decompress 2015-02-07-02-09-32.bag` before starting analyse.
Attachment link: https://drive.google.com/file/d/0B7uPJVMkbpRKMEFWR3FzMDVMQ1U/view?usp=sharing
Thanks in advance :)
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