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This launch file might help
<launch>
<!-- kinect and frame ids -->
<include file="$(find openni_launch)/launch/openni.launch"/>
<!-- openni_manager -->
<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>
<!-- throttling -->
<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
<param name="max_rate" value="2"/>
<remap from="cloud_in" to="/camera/depth/points"/>
<remap from="cloud_out" to="cloud_throttled"/>
</node>
<!-- fake laser -->
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
<param name="output_frame_id" value="/camera_depth_frame"/>
<remap from="cloud" to="cloud_throttled"/>
</node>
</launch>
By running the node and publishing your clouds to the cloud topic. The scans will be published on the scan topic.
You might have an easier time (and use less CPU) if you use depthimage_to_laserscan.
roslaunch openni_launch openni.launch rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
Asked: 2013-02-09 22:57:27 -0500
Seen: 827 times
Last updated: Feb 11 '13
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Depends on what you want to do with it - what exactly are you trying to do?
@allenh1, I want to run SLAM and I've installed openni_camera and openni_launch till now, I want to install pcl_to_laserscan and then install either gmapping or hectorSLAM.