This package converts ROS sensor_msgs::Range to sensor_msgs::PointCloud2 for whatever reason.

1. cd ~ && mkdir -p ros_ws/src && cd ~/ros_ws/src
2. git clone https://github.com/mpheng666/ros-range-to-pointcloud.git
3. cd ~/ros_ws && catkin build or cd ~/ros_ws && catkin_make
4. cd ~/ros_ws && source ~/ros_ws/devel/setup.bash

1. Edit the params in config/param.yaml
2. Edit the tf.launch in launch/tf.launch

1. If tf is defined in URDF or launch somewhere else roslaunch range_to_pointcloud start.launch use_tf:=false

2. If tf is defined in launch/tf.launch roslaunch range_to_pointcloud start.launch use_tf:=true

3. run rviz to visualize it