This is a ROS package which is modified from pointcloud_to_laserscan, that transfering PointCloud2 captured by Kinect2 to LaserScan. This work is inspired by https://github.com/ros-perception/pointcloud_to_laserscan
To use this package, IAI Kinect2(https://github.com/code-iai/iai_kinect2) written by T. Wiedemeyer is needed.
1.git clone this repository to the src folder of your catkin workspace; 2.run catkin_make install in the workspace; 3.source ~/catkin_ws/install/setup.bash