Vertical Laser-scan with Depth_image from camera

asked 2020-12-25 09:14:06 -0500

kane_choigo gravatar image

updated 2020-12-25 09:15:08 -0500

Hello, I'm working on ROS kinetic with Ubuntu 16.04.

As you guys know, there are some packages that get a 2D laser scan data from a point-cloud data or a depth image.

The package I'm using gets depth-image and convert it to laser scan data, and this is exactly where I'm wondering.

I'd like to show the corresponding launch file:

  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <param name="range_min" value="0.06"/>
    <param name="range_max" value="6.00"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>

What's the name of the nodes I used??

In my understanding, I only know I'm using two packages of nodelet.

But you know, the nodelet is just a node manager, not a function node, as far as I know.

And I also want to know which parameters I can modify; as I don't know the name of the corresponding nodes, I can't access tine source codes.

In fact, I'm going to get a vertical 2D laser scan data. (The existing converted laser scan data is horizontal data.)

So I have a feeling that it needs to modify the source codes concerning that part.

If anyone familiar with this kind of works, would you please give me great advice?

Thanks in advance. :)

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