#depthimage_to_laserscan Converts a depth image to a laser scan for use with navigation and localization. This is a fork from https://github.com/ros-perception/depthimage_to_laserscan
ROS Wiki Page: http://www.ros.org/wiki/depthimage_to_laserscan
##Environment
- Ubuntu 14.04
- ROS Indigo
##Build
- Copy the whole depthimage_to_laserscan folder to <CATKIN_WS>/src
cd <CATKIN_WS> && catkin_make
##Usage ###Launch the node
source <CATKIN_WS>/devel/setup.bash
rosrun depthimage_to_laserscan depthimage_to_laserscan
###Output topics
- /scan
###Input topics Topics below will be subscribed only if /scan is subscribed.
- /camera/depth/compressed
- /camera/camera_info
###Configurations
- Configurations are described in cfg/Depth.cfg
##Visualization
rosrun tf static_transform_publisher 0 0 0 0 0 0 map <laser_frame> 50
rosrun rviz rviz