将xtion pro的depthimage转换为LaserScan

参考：
http://www.cnblogs.com/cj2014/p/4007165.html
http://www.cnblogs.com/huicanlin/p/5442479.html
http://answers.ros.org/question/62990/add-depth-image-to-laser-scan-in-a-launch-file/
http://answers.ros.org/question/190377/how-to-setup-xtion-pro-live-ubuntu-1404-openni12/

http://wiki.ros.org/depthimage_to_laserscan

1.安装ROS的openni包

<span>sudo apt-get install ros-<rosdistro>-openni2-camera<br /><span>sudo apt-get install ros-<rosdistro>-openni2-launch<br /><strong>2.安装ROS的</strong><strong>depthimage_to_laserscan包</strong><br />cd ~/catkin_ws/src/<br />git clone https://github.com/ros-perception/depthimage_to_laserscan.git  #克隆失败，可以手动去github上下载<br />进入depthimage_to_laserscan/cfg/Depth.cfg文件，将output_frame_id的取值改写成laser<br />cd ~/catkin_ws/src
catkin_make<br /><strong>3.运行</strong><br /><code>roslaunch openni2_launch openni2.launch<br />source ~/catkin_ws/devel/setup.bash<br /></code>rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw<br />