ROS2与VSLAM入门教程-点云与激光互相转换

ROS2与VSLAM入门教程-点云与激光互相转换

说明:

• 介绍如何实现激光和点云互相转换

步骤：

• apt安装

sudo apt install ros-galactic-pointcloud-to-laserscan

• 源码安装

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

测试 ：

• 点云转激光
• 订阅点云话题/scanner/cloud, 发布激光话题/scanner/scan

ros2 launch pointcloud_to_laserscan sample_pointcloud_to_laserscan_launch.py

• 激光转点云
• 订阅激光话题/scanner/scan, 发布点云话题/scanner/cloud

ros2 launch pointcloud_to_laserscan sample_laserscan_to_pointcloud_launch.py