I want to properly support 2D Lidars, as the "Can I use it with the Hokuyo/Sick?" question has already come to my ears many times since the release.
What did I do
Just add the laser_geometry ROS package as a dependency so that we can use the projectLaser function to convert the LaserScan msg to PointCloud2 msg. To enable the 2d lidar mode, I add a new flag use_2d_lidar in the launch files. NOTICE: this also works for the offline node. Miss some cleaning.
Motivation
I want to properly support 2D Lidars, as the "Can I use it with the Hokuyo/Sick?" question has already come to my ears many times since the release.
What did I do
Just add the
laser_geometryROS package as a dependency so that we can use theprojectLaserfunction to convert theLaserScanmsg toPointCloud2msg. To enable the 2d lidar mode, I add a new flaguse_2d_lidarin the launch files. NOTICE: this also works for the offline node. Miss some cleaning.