depth image converter to laser scan
the node is still a work in progress!
Lasers are costy. Xtions and Kinects are cheap. (there are other motivations back, i'll finish coding first then i'll have time for chit chat)
To launch the node and the static TF tree, just write
roslaunch depth2laser tree.launch
If you want to try it on a mobile robot fastest way is edit tree.launch
and set a trasform between the camera frame ("xtion" in that file) and the base link frame.
Available params with deaults:
- _base_frame /world
- _camera_frame /xtion
- _virtual_laser_frame /laser
- _depth_image_raw_subscribed_topic /camera/depth/image_raw
- _depth_image_camera_info_subscribed_topic /camera/depth/camera_info
- _pointcloud_published_topic /pointcloud
- _virtual_scan_pointcloud_topic /laser
- _virtual_scan_topic /scan
- _publish_pointcloud 1
- _publish_laser_pointcloud 0
- _laser_beams 2047
Laser scan overimposed xtion's pointcloud
Any orientation is a good orientation
Using gmapping and a mobile robots you can build you own maps!