README.md

realsense_laserscan

depthimage_to_laserscan uses middle section of the depth image to create laserscan data.

This repository creates laserscan from D435 depth map on a set height using T265 odometry. Set height is defined in horizontal camera position. Pitch angle is used to choose which part of the image is passed on to depthimage_to_laserscan algorithm. If pitch angle is too big, empty depth map is sent, resulting in no laserscan data output.

Usage:

roslaunch realsense_laserscan realsense_laserscan.launch

with RViz:

roslaunch realsense_laserscan realsense_laserscan_rviz.launch

Used repositories:

• realsense_nodes_python
• depthimage_to_laserscan