add depth image to laser scan in a launch file

asked 2013-05-17 09:10:50 -0500

danielq
181 ●13 ●17 ●21 http://dnqproject.blogspot.it/

Hi guys,

I'm trying to create my own .launch file but i can't understand how to add the follow rosrun to the file:

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw

I know that I can run the node by typing

<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan"/>

but I don't know how to add the "image:=/camera/depth/image_raw" part.

someone can help me?

thanks

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@danielq - Can you post the launch file you created? I want to use depthimage_to_laserscan with kinect v2 and want to see how to use the parameters to use libfreenect2 driver with this package.

pallavbakshi ( 2017-01-27 03:25:59 -0500 )edit

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6

answered 2013-05-17 09:17:20 -0500

Dan Lazewatsky
9115 ●79 ●103 ●160 http://dan.lazewatsky.com/

updated 2013-05-17 09:17:33 -0500

http://ros.org/wiki/roslaunch/XML

You're looking for the remap tag.

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thanks a lot Dan, I followed the wiki and I have solved. Thanks

danielq ( 2013-06-03 23:39:23 -0500 )edit

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5

answered 2014-08-21 08:11:41 -0500

Moda

133 ●24 ●29 ●34

For the others, the answer is

<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" > 
  <remap from="image" to="/camera/depth/image_raw"/>
</node>

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add depth image to laser scan in a launch file

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add depth image to laser scan in a launch file