I have a ply file which is the pointcloud of an environment. I also have a csv file which has the pose of the quadcopter at every instants. Given these both as input, I want to extract planar laserscan data as a ROS laserscan message. Can anyone please help me?
extracting ROS laserscan messages from a given pose and a pointcloud
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There is a package in ROS named pointcloud_to_laserscan ( Documentation of pointcloud_to_laserscan) that converts the 3D pointcloud data to 2D laserscan message.