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Package Summary

depthimage_to_laserscan

Package Summary

depthimage_to_laserscan

Package Summary

depthimage_to_laserscan

  • Maintainer status: maintained
  • Maintainer: Chad Rockey <chadrockey AT gmail DOT com>
  • Author: Chad Rockey
  • License: BSD

Overview / Example Scene

RGB

Here is the scene in which the following screenshots were captured.

scene.jpg

DepthImage

Note the sensor_msgs/LaserScan overlayed in color on the sensor_msgs/Image. Red is close to camera, purple is far from camera.

depthimage.png

LaserScan

sensor_msgs/LaserScan projected on top of the sensor_msgs/PointCloud2.

pointcloud.png

Top Down LaserScan

Top down view of the sensor_msgs/LaserScan.

overhead_scan.png

Node

depthimage_to_laserscan

depthimage_to_laserscan takes a depth image (float encoded meters or preferably uint16 encoded millimeters for OpenNI devices) and generates a 2D laser scan based on the provided parameters. depthimage_to_laserscan uses lazy subscribing and will not subscribe to image or camera_info until there is a subscriber for scan.

Subscribed Topics

image (sensor_msgs/Image) camera_info (sensor_msgs/CameraInfo)

Published Topics

scan (sensor_msgs/LaserScan)

Parameters

~scan_height (int, default: 1 pixel) ~scan_time (double, default: 1/30.0Hz (0.033s)) ~range_min (double, default: 0.45m) ~range_max (double, default: 10.0m) ~output_frame_id (str, default: camera_depth_frame)

Nodelet

Same usage as the Node.

Available as:

depthimage_to_laserscan/DepthImageToLaserScanNodelet


2019-06-22 12:37