相机深度数据转雷达数据

ᯤ⁹⁹ᴳ⁺

深度数据转雷达数据文件
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
depthimage_to_laserscan_node = Node(
package='depthimage_to_laserscan',
executable='depthimage_to_laserscan_node',
name='depthimage_to_laserscan_node',
remappings=[
('depth','/camera/depth/image_raw'),
('depth_camera_info', '/camera/depth/camera_info'),
('scan', '/scan')
],
parameters=[{
'scan_time': 0.033, #扫描时间间隔，30HZ
'range_min': 0.45, #投影点的最小距离单位（米），更近的被丢弃
'range_max': 5.0, #投影点的最大距离单位（米），更远的被丢弃
'scan_height': 5, #depthimage中用于转成laserscan的行
'output_frame': 'camera_depth_optical_frame' #发布的帧 ID
}]
)

depthimage_to_laserscan_tf = Node(
    package='tf2_ros',
    executable='static_transform_publisher',
    name='depthimage_to_laserscan_tf',
    arguments=['0','0','0','0','0','0','1','camera_link','camera_depth_optical_frame']
) 

ld = LaunchDescription()
ld.add_action(depthimage_to_laserscan_node)
ld.add_action(depthimage_to_laserscan_tf)

return ld

出现雷达数据为竖着的，

但是订阅camera_depth_optical_frame话题，数据又可以是横向的