# depthimage_to_laserscan

**Repository Path**: Sytx_1/depthimage_to_laserscan

## Basic Information

- **Project Name**: depthimage_to_laserscan
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: ros2
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-06
- **Last Updated**: 2025-12-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

depthimage_to_laserscan
=======================

A ROS 2 driver to convert a depth image to a laser scan for use with navigation and localization.

Published Topics
----------------
* `scan` (`sensor_msgs/msg/LaserScan`) - The laser scan computed from the depth image.

Subscribed Topics
-----------------
* `depth_camera_info` (`sensor_msgs/msg/CameraInfo`) - The camera info.
* `depth` (`sensor_msgs/msg/Image`) - The depth image.

Parameters
----------
* `scan_time` (float) - The time in seconds between scans to report to the consumer of the LaserScan message.  This is set directly in the published message.  Defaults to 0.033 seconds.
* `range_min` (float) - The minimum distance in meters a projected point should be.  Points closer than this are discarded.  Defaults to 0.45 meters.
* `range_max` (float) - The maximum distance in meters a projected point should be.  Points further than this are discarded.  Defaults to 10.0 meters.
* `scan_height` (int) - The row from the depth image to use for the laser projection.  Defaults to 1.
* `output_frame` (string) - The frame id to publish in the LaserScan message.  Defaults to "camera_depth_frame".