概要

在ROS中将点云（PointCloud）转换为激光扫描（LaserScan）是一个常见的任务，尤其是在某些机器人系统中，激光雷达数据被用于导航和避障，但传感器输出的是点云数据。这种转换可以通过 pointcloud_to_laserscan 包实现，该包提供了一个节点，可以将接收到的PointCloud2消息转换成LaserScan消息。

安装pointcloud_to_laserscan

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b lunar-devel https://github.com/ros-perception/pointcloud_to_laserscan.git
cd ..
catkin_make

修改配置

<?xml version="1.0"?>

<launch>
    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

        <remap from="cloud_in" to="/lio_sam/deskew/cloud_deskewed"/>
        <rosparam>
            target_frame: base_link_est # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: -0.5
            max_height: 0.2

            angle_min: -3.1415926 # -M_PI
            angle_max: 3.1415926 # M_PI
            angle_increment: 0.003 # M_PI/360.0
            scan_time: 0.1
            range_min: 0.3
            range_max: 50
            use_inf: true
            inf_epsilon: 1.0

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>

    </node>

</launch>

运行结果