depthimage_to_laserscan

A ROS 2 driver to convert a depth image to a laser scan for use with navigation and localization.

Published Topics

• scan (sensor_msgs/msg/LaserScan) - The laser scan computed from the depth image.

Subscribed Topics

• depth_camera_info (sensor_msgs/msg/CameraInfo) - The camera info.
• depth (sensor_msgs/msg/Image) - The depth image.

Parameters

• scan_time (float) - The time in seconds between scans to report to the consumer of the LaserScan message. This is set directly in the published message. Defaults to 0.033 seconds.
• range_min (float) - The minimum distance in meters a projected point should be. Points closer than this are discarded. Defaults to 0.45 meters.
• range_max (float) - The maximum distance in meters a projected point should be. Points further than this are discarded. Defaults to 10.0 meters.
• scan_height (int) - The row from the depth image to use for the laser projection. Defaults to 1.
• output_frame (string) - The frame id to publish in the LaserScan message. Defaults to “camera_depth_frame”.

Changelog for package depthimage_to_laserscan

2.5.1 (2023-07-19)

• fix node name (#71)
• Update the code to use a non-deprecated header. (#72)
• Fix the style throughout the codebase to conform to ROS 2 style. (#63)
• Contributors: Chris Lalancette, Josef

2.5.0 (2022-01-22)

• Install includes to ${PROJECT_NAME} folder and use modern CMake (#58)
• Fix the launch files to work with Rolling. (#59)
• Contributors: Chris Lalancette, Shane Loretz

2.3.1 (2021-04-08)

• Cleanup the CMakeLists.txt (#51)
• Contributors: Chris Lalancette

2.3.0 (2020-05-28)

• Make DepthImageToLaserScan more RAII.
• Fixes pointed out by clang-tidy.
• Contributors: Chris Lalancette

2.2.5 (2019-11-13)

• Update the README.md to describe the topics and parameters.
• Add in a launch file for composable node.
• Rename launch file to conform to recommendations.
• Remove unnecessary Depth.cfg.
• Make depthimage_to_laserscan composable.
• Rename header files to .hpp
• Style cleanup.
• Contributors: Chris Lalancette

2.2.4 (2019-10-23)

• Export interfaces for Win32 Shared Lib (#44)
• Contributors: Sean Yen

2.2.2 (2019-09-27)

• update code to be consist with new ros2 core (#42)
• Contributors: Gary Liu

2.2.1 (2019-03-29)

• Port depthimage_to_laserscan to ROS2.
• Import ROS2 changes from https://github.com/ros2/depthimage_to_laserscan.git to upstream
• Contributors: Chad Rockey, Chris Lalancette, Mikael Arguedas, Shane Loretz, dhood

1.0.8 (2019-02-07)

• Merge pull request #27 from ros-perception/mikaelarguedas-patch-1 update to use non deprecated pluginlib macro
• update to use non deprecated pluginlib macro
• Contributors: Chad Rockey, Mikael Arguedas

1.0.7 (2014-06-16)

• Merge pull request #11 from ros-perception/hydro-devel Update indigo devel with angle fix
• Merge pull request #8 from vliedel/hydro-devel fixed angle_increment
• fixed angle_increment
• Merge pull request #7 from bulwahn/hydro-devel check for CATKIN_ENABLE_TESTING
• check for CATKIN_ENABLE_TESTING
• Added ARCHIVE DESTINATION
• Contributors: Chad Rockey, Lukas Bulwahn, vliedel

1.0.6 (2013-10-31)

• Removed y component from projected beam radius.

1.0.5 (2013-08-21)

• No more Willow Garage email.
• Merge pull request #4 from ericperko/groovy-devel Cleaned up CMakeLists a bit
• Cleaned up CMakeLists a bit

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