From 83fe2acd1101d7729d1e7b4d191b4986cee12cc0 Mon Sep 17 00:00:00 2001
From: ahuizxc <shenghui.liu@intel.com>
Date: Wed, 3 Apr 2019 15:38:22 +0800
Subject: [PATCH] add depthimage to laser scan

---
 .../launch/realsense2_to_laserscan.py         | 48 +++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 realsense_ros2_camera/launch/realsense2_to_laserscan.py

diff --git a/realsense_ros2_camera/launch/realsense2_to_laserscan.py b/realsense_ros2_camera/launch/realsense2_to_laserscan.py
new file mode 100644
index 0000000..aa02177
--- /dev/null
+++ b/realsense_ros2_camera/launch/realsense2_to_laserscan.py
@@ -0,0 +1,48 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+import launch.actions
+
+
+def generate_launch_description():
+    enable_align_depth = launch.substitutions.LaunchConfiguration('enable_aligned_depth', default="false")
+    output_frame = launch.substitutions.LaunchConfiguration('output_frame', default="base_scan")
+    range_max = launch.substitutions.LaunchConfiguration('range_max', default="2.0")
+    range_min = launch.substitutions.LaunchConfiguration('range_min', default="0.2")
+    return LaunchDescription([
+        # Realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera',
+            node_executable='realsense_ros2_camera',
+            node_name='realsense_ros2_camera',
+            parameters=[{'enable_aligned_depth':enable_align_depth}],
+            output='screen'), 
+        launch_ros.actions.Node(
+            package='depthimage_to_laserscan',
+            node_executable='depthimage_to_laserscan_node',
+            node_name='depthimage_to_laserscan_node',
+            output='screen',
+            parameters=[{'output_frame': output_frame},
+                        {'range_min': range_min},
+                        {'range_max': range_max}],
+            arguments=["depth:=/camera/depth/image_rect_raw",
+                       "depth_camera_info:=/camera/depth/camera_info",
+                       "scan:=/scan"]),
+    ])
\ No newline at end of file