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depthimage_to_laserscan conversion

asked 2016-04-06 14:20:54 -0500

kaygudo gravatar image

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

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Have you looked at this package:

2ROS0 gravatar image 2ROS0  ( 2016-04-06 14:47:47 -0500 )edit

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

kaygudo gravatar image kaygudo  ( 2016-04-10 12:20:23 -0500 )edit

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

Icehawk101 gravatar image Icehawk101  ( 2016-04-11 15:15:36 -0500 )edit

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

kaygudo gravatar image kaygudo  ( 2016-04-23 13:11:09 -0500 )edit

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answered 2016-04-11 15:18:41 -0500

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

Humpelstilzchen gravatar image Humpelstilzchen  ( 2016-04-12 00:29:58 -0500 )edit

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Asked: 2016-04-06 14:20:54 -0500

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Last updated: Apr 11 '16