【ros depthimage_to_laser kinect2】

kinect2的深度图可以转换成激光来用，使用depthimage_to_laser

这个tf是用来给rviz显示的

1）开启kinect2

rosrun kinect2_bridge kinect2_bridge

2）开启 depthimage_to_laser

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect2/qhd/image_depth_rect camera_info:=/kinect2/qhd/camera_info

3)开启rviz

rosrun rviz rviz

按topic找到laserScan rviz没有显示啥 有报错

Transform For frame [camera_depth_frame]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time

4）发布static_tf 

rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map camera_depth_frame 10

根据https://answers.ros.org/question/195962/rviz-fixed-frame-world-does-not-exist/

说rviz不知道把scan放哪，按照报错说的，要给他个tf

显示如下：

写了个小launch

<launch>
<node pkg="kinect2_bridge" type="kinect2_bridge" name="kinect2_bridge" output="screen"/>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laser" output="screen" >
    <remap from="image" to="kinect2/qhd/image_depth_rect"/>
    <remap from="camera_info" to="kinect2/qhd/camera_info"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" />
<node pkg="tf" type="static_transform_publisher" name="tf_static" args="0 0 0 0 0 0 1 map camera_depth_frame 10"/>
</launch>