Convert JT16 PointCloud2 to LaserScan - #46
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Pull request overview
This PR adds a JT16-focused PointCloud2→LaserScan conversion path and wires it into the existing SANEHAL-2 SLAM bringup so slam_toolbox can consume a generated /scan from the JT16 /lidar_points, with overridable topics and component toggles.
Changes:
- Add a reusable
pointcloud_to_laserscanlaunch file and a JT16-tuned parameter YAML. - Integrate JT16 driver + converter into
slam.launch.pywith launch arguments to enable/disable components and remap topics. - Add a synthetic launch test for the conversion contract and expand README guidance for tuning/QoS/rosbag workflows.
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| sanehal_bringup/test/test_pointcloud_to_laserscan.py | Adds a launch test that publishes a synthetic PointCloud2 and asserts the resulting LaserScan contract. |
| sanehal_bringup/README.md | Documents the new converter launch, SLAM integration switches, and tuning/recording guidance. |
| sanehal_bringup/package.xml | Declares runtime dependency on pointcloud_to_laserscan and adds test dependencies for the launch test. |
| sanehal_bringup/launch/slam.launch.py | Starts JT16 + converter alongside SLAM/RViz with overridable topics and component flags. |
| sanehal_bringup/launch/pointcloud_to_laserscan.launch.py | New reusable converter launch file with remappable input/output topics and params file. |
| sanehal_bringup/config/pointcloud_to_laserscan_jt16.yaml | New JT16-specific converter tuning parameters (height slice, angles, ranges, scan metadata). |
| sanehal_bringup/CMakeLists.txt | Registers the new launch test via add_launch_test when BUILD_TESTING is enabled. |
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Summary
pointcloud_to_laserscanconfiguration and reusable launch fileValidation
colcon build --packages-up-to sanehal_bringupcolcon test --packages-select sanehal_bringupcolcon test-result --verbose: 18 tests, 0 errors, 0 failuresslam_toolboxHardware status
Closes #31