How to assemble point cloud from additional lidar (planar)

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-assemble-point-cloud-from-additional-lidar-planar-tp3579.html

Hi,

How do I incorporate an additional lidar that is vertically fixed wrt to the horizontal one. I have so far tested the laser_assembler package on a PR2 bag file and I am able to build point clouds from a tilting lidar (pr2 bag). For my current setup, I have a fixed horizontal lidar for ICP matching, an rgbd sensor for 3d mapping with IMU. So far RTABMAP works absolutely great with my setup. I would like to add an additional lidar (vertical fixed hokuyo) for getting point cloud and use the RTABMAP node to correct the map. Can you provide pointers as to how to accomplish  this setup using laser assembler node and rtabmap.

Thanks
Alex