A full c++ based ros2 package to merge several laserscan / lidars topics by creating a new virtual laserscan topic. Each source laserscan could be configure via TF to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan.
This package is created with reference to https://github.com/mich1342/ros2_laser_scan_merger.
The features of this package are below:
Clone the repo to your ros2 workspace
git clone https://github.com/hijimasa/laser_scan_integrator.git
Edit the topic name in the launch file if needed
Build and Source
colcon build && source install/setup.bash
Launch the package
ros2 launch laser_scan_integrator integrate_2_scan.launch.py
ros2 launch laser_scan_integrator visualize_integrated_2_scan.launch.py
*Make sure that your laserscans topics already published before launch anything from this package
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