depth2laser - ROS node

depth image converter to laser scan

NOTE

the node is still a work in progress!

Story

Lasers are costy. Xtions and Kinects are cheap. (there are other motivations back, i'll finish coding first then i'll have time for chit chat)

How to use it

To launch the node and the static TF tree, just write

roslaunch depth2laser tree.launch

If you want to try it on a mobile robot fastest way is edit tree.launch and set a trasform between the camera frame ("xtion" in that file) and the base link frame.

Available params with deaults:

• _base_frame /world
• _camera_frame /xtion
• _virtual_laser_frame /laser
• _depth_image_raw_subscribed_topic /camera/depth/image_raw
• _depth_image_camera_info_subscribed_topic /camera/depth/camera_info
• _pointcloud_published_topic /pointcloud
• _virtual_scan_pointcloud_topic /laser
• _virtual_scan_topic /scan
• _publish_pointcloud 1
• _publish_laser_pointcloud 0
• _laser_beams 2047

Examples

Laser scan overimposed xtion's pointcloud

Any orientation is a good orientation

Using gmapping and a mobile robots you can build you own maps!