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I think you're asking how to use a kinect to get a laser scan along with an rplidar?

Essentially, you need to make a node which takes in the 2 as inputs and outputs a composite laser scan which is used by gmapping. You can use the depth image to laser scan nodelet to make the laser scan for the kinect, or at least get the points for it.

From there I would probably convert the kinect points to the laser frame ID and raytrace from the frame to find the range. You can use some geometry to get the angle. Then fill out the message with nans for positions between valid kinect readings and the rplidar you're filtering out of bounds.