{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/40","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/40/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/40/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/40/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/40","id":174449810,"number":40,"title":"Add support for rotating, planar LIDAR","user":{"login":"damonkohler","id":191389,"avatar_url":"https://avatars.githubusercontent.com/u/191389?v=3","gravatar_id":"","url":"https://api.github.com/users/damonkohler","html_url":"https://github.com/damonkohler","followers_url":"https://api.github.com/users/damonkohler/followers","following_url":"https://api.github.com/users/damonkohler/following{/other_user}","gists_url":"https://api.github.com/users/damonkohler/gists{/gist_id}","starred_url":"https://api.github.com/users/damonkohler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/damonkohler/subscriptions","organizations_url":"https://api.github.com/users/damonkohler/orgs","repos_url":"https://api.github.com/users/damonkohler/repos","events_url":"https://api.github.com/users/damonkohler/events{/privacy}","received_events_url":"https://api.github.com/users/damonkohler/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-09-01T06:55:08Z","updated_at":"2016-10-05T07:09:57Z","closed_at":null,"body":"The 3D mode wants things via a a PointCloud2 topic and requires externally adding a conversion from scan data to PointCloud2. To remove that dependency and for convenience, supporting plain LaserScan input for 3D could be beneficial.\r\n\r\nAdditionally, this would allow Cartographer to handle the aggregation of partial revolutions, similar to how Velodyne data is handled."},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/comments/251599091","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/40#issuecomment-251599091","issue_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/40","id":251599091,"user":{"login":"damonkohler","id":191389,"avatar_url":"https://avatars.githubusercontent.com/u/191389?v=3","gravatar_id":"","url":"https://api.github.com/users/damonkohler","html_url":"https://github.com/damonkohler","followers_url":"https://api.github.com/users/damonkohler/followers","following_url":"https://api.github.com/users/damonkohler/following{/other_user}","gists_url":"https://api.github.com/users/damonkohler/gists{/gist_id}","starred_url":"https://api.github.com/users/damonkohler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/damonkohler/subscriptions","organizations_url":"https://api.github.com/users/damonkohler/orgs","repos_url":"https://api.github.com/users/damonkohler/repos","events_url":"https://api.github.com/users/damonkohler/events{/privacy}","received_events_url":"https://api.github.com/users/damonkohler/received_events","type":"User","site_admin":false},"created_at":"2016-10-05T07:09:57Z","updated_at":"2016-10-05T07:09:57Z","body":"Upon further consideration, this really only requires a node that converts LaserScan messages into PointCloud2 messages. Everything else should just work TM. @skohlbr, thoughts? "}}
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