Errors when combining two laser sources ([pcl::concatenatePointCloud])

[renno-bih]

Hello,

I'm trying to combine laser data from LDS-01 LIDAR and R200 camera.
To convert data from PointCloud2 of my R200 to LaserScan I use depthimage_to_laserscan and it works good. Everything is correctly displayed in rViz.

But when I try to combine these two data using ira_laser_tools I get errors.

burger@burger-UP-CHT01:~$ roslaunch ira_laser_tools laserscan_multi_merger.launch
... logging to /home/burger/.ros/log/4979d2f4-d902-11e8-a0f5-00c0caa51893/roslaunch-burger-UP-CHT01-5052.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:35838/

SUMMARY

PARAMETERS

• /laserscan_multi_merger/cloud_destination_topic: /merged_cloud
• /laserscan_multi_merger/destination_frame: /base_link
• /laserscan_multi_merger/laserscan_topics: /scan /scan_r200
• /laserscan_multi_merger/scan_destination_topic: /scan_multi
• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/
laserscan_multi_merger (ira_laser_tools/laserscan_multi_merger)

ROS_MASTER_URI=http://localhost:11311

process[laserscan_multi_merger-1]: started with pid [5075]
[ INFO] [1540546555.340892157]: Subscribing to topics 2
/scan /scan_r200 [ WARN] [1540546555.411538397]: Transformer::setExtrapolationLimit is deprecated and does not do anything
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)
[pcl::concatenatePointCloud] Number of fields in cloud1 (5) != Number of fields in cloud2 (4)

Any idea how to solve this problem?

[ghy2013]

I also encountered this problem. Is it solved?thinks!

[renno-bih]

No, I didn't find solution for this.

[rishabhagarwal880]

I had the same error. After looking at the scan data from the two different laser scanners (hokuyo and rplidar), I found that one of my scanners were not publishing intensities as the device was not capable. I changed the .cpp file to stop publishing intensities and the ira node started working. Essentially point cloud uses these intensities so the cloud data is different based on the intensity data.

[Julius-ZCJ]

I also get this problem, Is it solved?