laser_geometry 1.5.9 This package contains a class for converting from a 2D laser scan as defined by sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud or sensor_msgs/PointCloud2. In particular, it contains functionality to account for the skew resulting from moving robots or tilting laser scanners. Dave Hershberger BSD Tully Foote Radu Bogdan Rusu http://ros.org/wiki/laser_geometry catkin sensor_msgs roscpp tf angles eigen boost roscpp tf angles