pointcloud_to_laserscan

A ROS 2 package with two components that convert PointCloud2 messages to LaserScan messages and back. It is a port of the original ROS 1 package.

Made by ROS Perception.

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 595bc92 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Projects PointCloud2 messages into LaserScan messages through the pointcloud_to_laserscan::PointCloudToLaserScanNode component, publishing to the scan topic.
Re-publishes LaserScan messages as PointCloud2 messages through the pointcloud_to_laserscan::LaserScanToPointCloudNode component, publishing to the cloud topic.
The point-cloud-to-scan node processes no input unless something subscribes to its scan topic; the scan-to-cloud node likewise waits for a subscriber on cloud.
Height limits, scan angle range, angle increment and range limits are configurable parameters for the point-cloud-to-scan conversion.
An optional target_frame parameter transforms the data into another frame before conversion, with a transform_tolerance for lookups.
A use_inf parameter selects whether no-obstacle readings are reported as +inf or as range_max + 1.

Written by Robotheca from the project's README (opens in a new tab) at commit 595bc92.

Checked on GitHub on 16 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

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