How to convert depth image to laser scan in ros foxy?

[pannatorn6395]

[MartyG-RealSense]

Hi @pannatorn6395 Have you investigated using the ROS2 Foxy branch of depthimage_to_laserscan to convert a depth image to laser scan, please?

https://github.com/ros-perception/depthimage_to_laserscan/tree/foxy-devel

[pannatorn6395]

yes, @MartyG-RealSense I used it already but I don't know why depth image can't publish to laser scan and I can't change topic /depth.would you recommend, please

[MartyG-RealSense]

I have not personally used depthimage_to_laserscan, though in a past case about it I provided the following information regarding guidance for getting it working.

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If you have not been able to launch depthimage_to_laserscan, a guide in the link below for doing so with D435 and the RealSense ROS wrapper may be helpful.

https://programmersought.com/article/62234275154/

If you are able to launch it successfully, the RealSense ROS forum link at https://github.com/IntelRealSense/realsense-ros/issues/510 discusses use of depthimage_to_laserscan for mapping with D435.

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The original discussions about depthimage_to_laserscan that the above information originated from are at https://github.com/IntelRealSense/librealsense/issues/9272 and https://github.com/IntelRealSense/librealsense/issues/9294

[MartyG-RealSense]

Hi @pannatorn6395 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.