ShubhamNandi / ros2_laser_scan_merger

A ros2 package to merge several laserscan topics by creating a new virtual laserscan topic. Each source laserscan could be configure via the parameter to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan

ros2_laser_scan_merger

A full c++ based ros2 package to merge several laserscan / lidars topics by creating a new virtual laserscan topic. Each source laserscan could be configure via the parameter to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan.

Prerequisite

1. ROS2 (Tested on Humble)
2. Your laserscans driver (Tested using RPLIDAR S1 and RPLIDAR S1)
3. RVIZ2
4. RQT
5. Pointcloud to Laserscan

How to use

1. Clone the repo to your ros2 workspace

git clone https://github.com/mich1342/ros2_laser_scan_merger.git

2. Edit the topic name in the launch file if needed

3. Build and Source

colcon build && source install/setup.bash

4. Launch the package

• To launch without visualizer

ros2 launch ros2_laser_scan_merger merge_2_scan.launch.py

• To launch with visualizer (RVIZ2)

ros2 launch ros2_laser_scan_merger visualize_merge_2_scan.launch.py

Both of the launch file already integrated with the pointclound_to_laserscan package

5. Open RQT to set the parameter

rqt