ROS2与VSLAM入门教程-深度数据转换为激光数据

ROS2与VSLAM入门教程-深度数据转换为激光数据

说明：

• 介绍如何把深度相机获取的深度数据转化为激光数据
• 环境：ubuntu20.04 galactic +　d435i深度相机

相关设备

• d435i深度相机淘宝地址

apt安装步骤：

• apt安装

sudo apt install ros-galactic-depthimage-to-laserscan

• 新建launch文件，depthimage_to_laserscan.launch.py

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    param_config = os.path.join(get_package_share_directory('depthimage_to_laserscan'), 'cfg', 'param.yaml')
    return LaunchDescription([
        Node(
            package='depthimage_to_laserscan',
            executable='depthimage_to_laserscan_node',
            name='depthimage_to_laserscan_node',
            remappings=[('depth','/camera/depth/image_rect_raw'),
                        ('depth_camera_info', '/camera/depth/camera_info')],
            parameters=[param_config])
    ])

• 测试

ros2 launch depthimage_to_laserscan.launch.py

源码安装步骤：

• 安装依赖

sudo apt install ros-galactic-image_geometry 

• 假设已经有工作空间ros2_common_ws
• 下载和编译源码

cd ~/ros2_common_ws/src
git clone -b foxy-devel  https://github.com/ros-perception/depthimage_to_laserscan
cd ~/ros2_common_ws/
colcon build --symlink-install --packages-select=depthimage_to_laserscan

• 加载使用

source ~/ros2_common_ws/install/local_setup.bash 

• 测试如上
• 如果因为Qos导致不能订阅深度话题，可以修改DepthImageToLaserScanROS.cpp源码设置Qos为best_effort

需要修复Qos,使用best_effort
// auto qos = rclcpp::SystemDefaultsQoS();
auto qos = rclcpp::QoS(10).best_effort();