ros2与传感器-整合pointcloud_to_laserscan

ros2与传感器-整合pointcloud_to_laserscan

说明：

• 介绍如何把深度相机或双目相机的点云数据转为激光数据

步骤：

• 下载编译

mkdir -p ~/sensor_ws/src
cd ~/sensor_ws/src
git clone -b foxy https://github.com/ros-perception/pointcloud_to_laserscan
cd ~/sensor_ws/
colcon build --symlink-install 

• 加载工作空间

. ~/sensor_ws/install/local_setup.bash

测试 ：

• 点云转为激光数据

ros2 launch pointcloud_to_laserscan  sample_pointcloud_to_laserscan_launch.py

• 订阅话题scanner/cloud, 转为话题scanner/scan
• 激光数据转为点云

ros2 launch pointcloud_to_laserscan sample_laserscan_to_pointcloud_launch.py

• 订阅话题scanner/scan, 转为话题scanner/cloud