求助pointcloud_to_laserscan转换后rviz无法显示问题

[342918498]

使用的速腾16线激光雷达，需使用pointcloud_to_laserscan转换为/scan用作cartographer 2D建图测试，但在运行相关节点并订阅/scan消息后，/scan消息有输出，rviz2中按topic添加/LaserScan无可视化输出，请问如何解决？谢谢

其中转换launch文件pointcloud_to_laserscan.launch.py如下：

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
            remappings=[('cloud_in', 'rslidar_points'),
                        ('scan', 'scan')],
            parameters=[{
                'target_frame': 'cloud',
                'transform_tolerance': 0.01,
                'min_height': 0.0,
                'max_height': 1.0,
                'angle_min': -3.1415926,  # -M_PI/2
                'angle_max': 3.1415926,  # M_PI/2
                'angle_increment': 0.0087,  # M_PI/360.0
                'scan_time': 0.1,
                'range_min': 0.2,
                'range_max': 100.0,
                'use_inf': True,
                'inf_epsilon': 1.0
            }],
            name='pointcloud_to_laserscan'
        )
    ])

point2scan节点信息如下：

$ ros2 node info /pointcloud_to_laserscan 
/pointcloud_to_laserscan
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /scan: sensor_msgs/msg/LaserScan
  Service Servers:
    /pointcloud_to_laserscan/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /pointcloud_to_laserscan/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /pointcloud_to_laserscan/get_parameters: rcl_interfaces/srv/GetParameters
    /pointcloud_to_laserscan/list_parameters: rcl_interfaces/srv/ListParameters
    /pointcloud_to_laserscan/set_parameters: rcl_interfaces/srv/SetParameters
    /pointcloud_to_laserscan/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

雷达节点信息如下：

$ ros2 node info /rslidar_sdk/rslidar_points_destination_0 
/rslidar_sdk/rslidar_points_destination_0
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /rslidar_points: sensor_msgs/msg/PointCloud2
  Service Servers:
    /rslidar_sdk/rslidar_points_destination_0/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /rslidar_sdk/rslidar_points_destination_0/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /rslidar_sdk/rslidar_points_destination_0/get_parameters: rcl_interfaces/srv/GetParameters
    /rslidar_sdk/rslidar_points_destination_0/list_parameters: rcl_interfaces/srv/ListParameters
    /rslidar_sdk/rslidar_points_destination_0/set_parameters: rcl_interfaces/srv/SetParameters
    /rslidar_sdk/rslidar_points_destination_0/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

rviz界面如下：

请提出任何修改意见，谢谢！

[342918498]

我找到了问题所在，是QoS的问题，特此记录。
详细信息参考LaserScan showing [0] points from [0] messages

[654799839]

麻烦问一下这个会影响后续用来建图吗，我现在也是pointcloud转laserscan之后，在rviz里调整策略为best effort后可以看到单线激光数据，但是发现用来跑cartographer好像有点问题，不知道是不是和这个有关

[342918498]

@654799839 我使用的过程中没有影响后续的cartographer建图和定位,可以在启动cartographer后用rqt_graph看下.