ROS相机数据转LaserScan

1.点云转LaserScan

<launch>

    <node pkg="tf" type="static_transform_publisher" name="base_to_camera" args="-0.0 0.0 0 0 0.0 0.0 base_link camera_link 100"/>
    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

        <remap from="cloud_in" to="/camera/depth/points"/>
        <remap from="scan" to="/orbbec/scan"/>
        <rosparam>
            target_frame: camera_link # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: 0.0
            max_height: 1.0

            angle_min: -1.5708 # -M_PI/2
            angle_max: 1.5708 # M_PI/2
            angle_increment: 0.0087 # M_PI/360.0
            scan_time: 0.3333
            range_min: 0.45
            range_max: 4.0
            use_inf: true

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>

    </node>

</launch>

• 本人使用的是奥比中光的深度相机
• 使用点云的数据量较大，会影响发布频率

2.深度图转LaserScan

<launch>

    <!-- <node pkg="tf" type="static_transform_publisher" name="base_to_camera" args="-0.17 0.0 0 0 0.0 0.0 base_link camera_link 100"/> -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" args="standalone depthimage_to_lasersacn/DepthImageToLaserScanNodelet" >
        <remap from="image" to="camera/depth/image_raw"/>
        <remap from="camera_info" to="camera/depth/camera_info"/>
        <remap from="scan" to="/scan"/>
        <param name="range_max" type="double" value="4" />
        <param name="scan_height" type="int" value="449" />
    </node>

</launch>

• depthimage_to_laserscan使用的是lazy subscribing，即当scan被订阅时才发布。

3.多个LaserScan融合

• 使用ira_laser_tools
• 注意提供tf数据

<launch>
        <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen">
        <param name="destination_frame" value="/base_link"/>
        <param name="cloud_destination_topic" value="/merged_cloud"/>
        <param name="scan_destination_topic" value="/scan"/>
                <param name="laserscan_topics" value ="/orbbec/scan /rplidar/scan" /> <!-- LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE -->
    </node>
</launch>