Depthimage_to_lasercan

1  安装

（1）下载源码

gti clone https://github.com/ros-perception/depthimage_to_laserscan

（2）编译安装

cd ~/catkin_ws/src
catkin_make

（3）预先条件

安装了kinect v2的包：https://github.com/code-iai/iai_kinect2

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2  运行（指令）

roslaunch kinect2_bridge kinect2_bridge.launch

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect2/sd/image_depth_rect

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3  其它参考

http://wiki.ros.org/depthimage_to_laserscan

http://answers.ros.org/question/62990/add-depth-image-to-laser-scan-in-a-launch-file/