I'm using ROS kinect on Ubuntu 14.04 and I'm currently working on a robot. One of my ROS nodes needs to subscribe to the sensor_msgs::LaserScan topic from the Sweep LiDAR but I'm not sure to what topic name Sweep publishes to when I launch the ROS node "sweep2laserscan.launch"?
Running: "rostopic list" in terminal, tells me that someone is posting data on topic "scan"... is that the one?
I can't find where this topic name is initialized and how I can change that topic name?
I also need to have all my samples in each laserscan sorted in increasing order of azimuth. Looking at http://docs.ros.org/jade/api/sensor_msgs/html/msg/LaserScan.html it feels like this is done automatically(?) but when printing the data I get from launching "sweep.launch" (publishes sensor_msgs::PointCloud2 messages) they are all scrambled.
- How do I change the LaserScan topic name?
- Are the samples in each LaserScan ordered?
Thankful for help!