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depthimage_to_laserscan conversion

Hello, I wish to convert depth image from kinect into laserscan map on rviz or point cloud generated map to laserscan map.I am using RTABMAP_ros for generating 3D point cloud map and wish to convert it into 2D laserscan map to use amcl for localization.I referred the ros page for the same but they have not provided any method to do so or any command for the same.It would be nice if you can help me.I am new to ROS.

Thank you

Asked by kaygudo on 2016-04-06 14:20:54 UTC

Comments

Have you looked at this package: http://wiki.ros.org/depthimage_to_laserscan

Asked by 2ROS0 on 2016-04-06 14:47:47 UTC

YUP. but there are no directions or commands to use it.I am new to ros

Asked by kaygudo on 2016-04-10 12:20:23 UTC

It gives you the parameters that the package needs. Are you saying that you do not know how to launch a ros node?

Asked by Icehawk101 on 2016-04-11 15:15:36 UTC

can you please show me how to do it for this case plz.I am new to ros

Asked by kaygudo on 2016-04-23 13:11:09 UTC

Answers

As 2ROSO said in his comment, use the depthimage_to_laserscan package. In a launch file it looks like this:

<!-- Convert the depth image to a laser scan -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
  <param name="scan_height" value="10"/>
  <remap from="image" to="/camera/depth/image_raw"/>
</node>

Asked by Icehawk101 on 2016-04-11 15:18:41 UTC

Comments

There is also a nodelet version that should have less overhead.

Asked by Humpelstilzchen on 2016-04-12 00:29:58 UTC