This package provides a nodelet for converting laser scans to point clouds.

• scan (sensor_msgs::LaserScan) Laser scan.

• cloud (sensor_msgs::PointCloud2) Point cloud converted from the laser scan.

• target_frame (str) Target frame to transform point cloud to.
• fixed_frame (str) Fixed frame used for the transformation.
• wait_for_transform (double) Seconds to wait until transforms is available.
• tf_cache (double) Length of TF cache history (in seconds).
• channel_options (int) Channels to extract from laser scans.
• scan_queue (int) Scan queue size.
• point_cloud_queue (int) Point cloud queue size.