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Finalize pointcloud to laserscan

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This commit is contained in:
Paul Bovbel
2014-10-05 14:55:00 -04:00
committed by Paul Bovbel
parent 85241bcb53
commit dc1cf04b07
8 changed files with 408 additions and 126 deletions
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pointcloud_to_laserscan/launch/sample_node.launch
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<?xml version="1.0"?>
<launch>
<arg name="camera" default="camera" />
<!-- start sensor-->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="camera" default="$(arg camera)"/>
</include>
<!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan" name="pointcloud_to_laserscan">
<param name="use_inf" value="true"/>
<param name="use_concurrency" value="true"/>
<param name="target_frame" value="base_link"/>
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
</node>
</launch>
pointcloud_to_laserscan/launch/sample_nodelet.launch
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<?xml version="1.0"?>
<launch>
<arg name="camera" default="camera" />
<!-- start sensor-->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="camera" default="$(arg camera)"/>
</include>
<!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/PointCloudToLaserScanNodelet $(arg camera)_nodelet_manager">
<param name="use_inf" value="true"/>
<param name="use_concurrency" value="true"/>
<param name="target_frame" value="base_link"/>
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
</node>
</launch>