#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