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