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".