ros-perception/depthimage_to_laserscan

Converts a depth image to a laser scan for use with navigation and localization.

depthimage_to_laserscan's Issues

Parameter change request in source

Thanks for your work to convert depth image to laserscan data. It would be very helpful if u help me in this regard. Ur node converts the portion of the image into laserscan that lies exactly in the middle of the image (zero degree in the plane of kinect). Could you tell me what parameter alteration I can do to the source so that I can convert the lowest row of image into laser scan?

Thanks a lot in advance!!

depth_image_to_laserscan not publishing to /kinect_scan topic in ROS2 Galactic

Hello,

I am trying to convert a depth image to a laser scan using the depthimage_to_laserscan package in ROS2 Galactic, but I am having trouble getting the node to publish the converted LaserScan data. Despite being able to subscribe to the input depth image topic (/kinect_sensor/depth/image_raw), the node doesn't seem to be publishing the converted data to the /kinect_scan topic.

Here's the launch file snippet for the depthimage_to_laserscan node:

# Kinect depthimage to laserscan conversion node
depthimage_to_laserscan_node = Node(
    package='depthimage_to_laserscan',
    executable='depthimage_to_laserscan_node',
    name='depthimage_to_laserscan',
    parameters=[kinect_params_file, {'use_sim_time': use_sim_time}],
    remappings=[('depth', '/kinect_sensor/depth/image_raw'),
                ('scan', '/kinect_scan')],
    output='screen')

And my kinect_params.yaml file:

depthimage_to_laserscan_node:
  ros__parameters:
    output_frame: kinect_depth_frame
    scan_height: 1
    range_min: 0.45
    range_max: 10.0
    scan_topic: /kinect_scan

When I inspect the /depthimage_to_laserscan node using ros2 node info, it shows that the node subscribes to /kinect_sensor/depth/image_raw and publishes to /kinect_scan. However, when I echo the /kinect_scan topic, it is empty and produces no output.

Here is a link to a video demonstrating the issue.

I have already tried changing the scan_topic to the original /scan topic in the parameter file and have also checked that the frame_id in the header of the depth image messages is consistent with the output_frame parameter, but these didn't solve the issue.

Could anyone please help me to understand what might be going wrong and how to get the depthimage_to_laserscan node to publish the LaserScan data correctly?

I am facing a similar issue and behavior using other packages image-proc, as related here: ros-perception/image_pipeline#832

Thank you in advance for your help.

Could not convert depth image to laserscan: scan_height ( 1 pixels) is too large for the image height.

I've just tried running depthimage_to_laserscan from a launch file, and the terminal window is giving me the error: "Could not convert depth image to laserscan: scan_height ( 1 pixels) is too large for the image height.". I'm running ROS Kinetic, and I'm trying to use it on depth images collected through the Airsim simulator code. The depth image shows up properly when I load it in Rviz.

I've checked the node with "rosnode info depthimage_to_laserscan", and it appears to be publishing and subscribing normally (I know it does the "lazy subscriber" thing, but my attempt at viewing the scan in Rviz is supposed to satisfy that). I have the latest version of the depthimage_to_laserscan package installed. Does anyone have any idea what could be wrong here? Could there be a bug in the camera info being published? Here's what's I get from rostopic echo:

`---
header:
seq: 923
stamp:
secs: 1538271513
nsecs: 114595890
frame_id: "front_center_optical"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0]
K: [360.0, 0.0, 360.0, 0.0, 360.0, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [360.0, 0.0, 360.0, 0.0, 0.0, 360.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 480
width: 640
do_rectify: False

`

Thank you.

could you tell me , how can i publish depth image to laser scan with ros2

Does it work with Kinect v2?

Hi,

Does it work with Kinect v2? What code modifications I can make to make it work, if possible?

Thanks,
Pallav

Camera depth frame is dropping message in rviz

Using foxy devel.
Camera depth frame is dropping message in rviz. I am passing it a topic of image raw from depth camera . As it says in the src cpp folder to pass a image.

Exported libraries incorrect

The exported libraries cmake call does not reflect the libraries it is building and this is causing problems building down the line because catkin_LIBRARIES ends up incorrectly passing libdepthimage_to_laserscan.so (which doesn't exist) to be linked.

In CMakeLists.txt:

catkin_package(DEPENDS sensor_msgs roscpp nodelet image_transport image_geometry dynamic_reconfigure
               INCLUDE_DIRS include
               LIBRARIES ${PROJECT_NAME}
)

I don't know if any of the actual libraries built are intended for export - if they are, they should be listed instead of ${PROJECT_NAME}.

Issue in setting Sensor_DATA QoS

https://robotics.stackexchange.com/questions/103441/depth-image-to-laserscan-not-publishing-to-kinect-scan-topic-in-ros2-galactic

I was looking into the post above and trying it out, the node fails to launch. Is there a way around for this ?

Alignement issues leading to 'bus error' on ARM NEON

When compiling and running depthimage_to_laserscan on an ARM platform (Cortex-A8), I ran into systematic 'bus error'. The reason is likely to be the same as documented in ros/ros_comm#184, and the suspicious cast is likely to be in the convert template.
I'm looking for a fix, but help is welcome :-)

If i want to rotate camera 90 degree, how can i use this package?

Excuse me, if i want to find minimum depth of each x axis to be the laserscan data , how can i change the code?

Build failing on melodic

Is this package supported on melodic? I'm trying to build and getting this error.

/home/mkhansen/ros_ws/src/depthimage_to_laserscan/src/DepthImageToLaserScanNodelet.cpp:60:24: error: expected constructor, destructor, or type conversion before ‘(’ token
PLUGINLIB_DECLARE_CLASS(depthimage_to_laserscan, DepthImageToLaserScanNodelet, depthimage_to_laserscan::DepthImageToLaserScanNodelet, nodelet::Nodelet);
^
Has anyone built it for melodic?

Problem subscribing to image and camera_info

Problem subscribing to image and camera_info

I'm trying to launch the depthimage-to-laserscan ROS node using a launch file.

<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
  <remap from="scan" to="laserbeam"/>
  <param name="camera_info" value="/cam1/camera_info"/>
  <param name="image" value="/cam1/line_finder"/>
</node>

---

I pumped the original image through a preprocessing program that outputs a simple bitmap image.

However, when I run the launch file, the node successfully launches but doesn't subscribe to anything. When I look up information on the node and what it connects to using rosnode info, this is the output:

---

Node [/depthimage_to_laserscan]
Publications:

• /depthimage_to_laserscan/parameter_updates [dynamic_reconfigure/Config]
• /rosout [rosgraph_msgs/Log]
• /depthimage_to_laserscan/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
• /laserbeam [sensor_msgs/LaserScan]

Subscriptions: None

Services:

• /depthimage_to_laserscan/get_loggers
• /depthimage_to_laserscan/set_logger_level
• /depthimage_to_laserscan/set_parameters

contacting node http://romo-MacBookPro:52274/ ...
Pid: 20486
Connections:

• topic: /rosout
  • to: /rosout
  • direction: outbound
  • transport: TCPROS

---

According to the printout above, the node doesn't subscribe to anything. Any advice would greatly be appreciated.

PS: I'm planning on combining this output with a laser scan from a hokuyo sensor. Any pointers would greatly be appreciated.

colcon build ros2 foxy

Hello,

I'm trying to install this package into my workspace in ROS2 foxy, but when I make colcon build. I receive this message on the terminal:
eduardo@eduardo-CM11EBV716W:~/my_ros2_ws/src$ colcon build

[0.211s] WARNING:colcon.colcon_core.prefix_path.colcon:The path '/home/eduardo/my_ros2_ws/src/depthimage_to_laserscan/install' in the environment variable COLCON_PREFIX_PATH doesn't exist

[0.250s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:

'depthimage_to_laserscan' is in: /opt/ros/foxy

If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.

If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:

--allow-overriding depthimage_to_laserscan

This may be promoted to an error in a future release of colcon-override-check.

Starting >>> depthimage_to_laserscan

Starting >>> pu_pubsub

--- stderr: depthimage_to_laserscan

CMake Error at CMakeLists.txt:6 (find_package):

By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has

asked CMake to find a package configuration file provided by "catkin", but

CMake did not find one.

Could not find a package configuration file provided by "catkin" with any

of the following names:

catkinConfig.cmake

catkin-config.cmake

Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set

"catkin_DIR" to a directory containing one of the above files. If "catkin"

provides a separate development package or SDK, be sure it has been

installed.

---

Failed <<< depthimage_to_laserscan [0.34s, exited with code 1]

Aborted <<< pu_pubsub [0.38s]

Summary: 0 packages finished [0.50s]

1 package failed: depthimage_to_laserscan

1 package aborted: pu_pubsub

1 package had stderr output: depthimage_to_laserscan

[ROS2 Humble] Error while using IPC in composition

When I try to enable IPC in composition I get this error:
Component constructor threw an exception: intraprocess communication is not allowed with a zero qos history depth value

The default QoS settings for the depthimage_to_laserscan component are not good for using IPC.

Example:

# ZED Wrapper component
    zed_wrapper_component = ComposableNode(
        package='zed_components',
        namespace=camera_name_val,
        plugin='stereolabs::ZedCamera',
        name=zed_node_name,
        parameters=[
            # YAML files
            config_common_path,  # Common parameters
            config_camera_path,  # Camera related parameters
            # Overriding
            {
                'general.camera_name': camera_name_val,
                'general.camera_model': camera_model_val,
                'general.svo_file': svo_path,
                'general.serial_number': serial_number
            }
        ],
        extra_arguments=[{'use_intra_process_comms': True}]
    )

    # Depth to Laser scan component
    zed_cvt_component = ComposableNode(
        package='depthimage_to_laserscan',
        namespace=camera_name_val,
        plugin='depthimage_to_laserscan::DepthImageToLaserScanROS',
        name='depthimage_to_laserscan',
        parameters=[
            config_path_cvt,
            # Overriding
            {
                'output_frame': camera_depth_frame,
                'qos_overrides./parameter_events.publisher.depth': 5
            }],
        remappings=[
                ('depth', zed_node_name_val + '/depth/depth_registered'),
                ('depth_camera_info', zed_node_name_val + '/depth/camera_info')
            ],
        extra_arguments=[{'use_intra_process_comms': True}]
    )

    # ROS 2 Component Container
    container = ComposableNodeContainer(
            name='zed_depth_to_laserscan',
            namespace=camera_name_val,
            package='rclcpp_components',
            executable='component_container',
            composable_node_descriptions=[
                zed_wrapper_component,
                zed_cvt_component
            ],
            output='screen',
    )

camera_info remapping in launch file doesn't work (melodic)

Hello, I am using this package with a pre-recorded data from an Intel RealSense camera, and my image depth topic is "/camera/aligned_depth_to_color/image_raw", but my camera_info topic is "/camera/color/camera_info". I can sucessfully remap the "image" topic in my launch file, but the "camera_info" topic uses the same path as "image" and does not remap.

I am not used to ROS in C++, so I don't know where I could change in the source code for this to work.

Currently using topic_tools relay to re-publish the "/camera/color/camera_info" topic as "/camera/aligned_depth_to_color/camera_info", but it's bothersome, so I decided to open this issue to let the developers know about it.

Thanks for developing this package and cheers!

[ERROR] [1548154452.152836138]: Could not convert depth image to laserscan: Depth image has unsupported encoding: rgb8

The camera is an Intel Sense.
Is there any solution to this issue?

melodic not launch

I didn't find the launch file in melody. How can I run it?

Create a ros2 branch

Can you create a ros2 branch so that this can be upstreamed / integrated to that branch:
https://github.com/ros2/depthimage_to_laserscan

Scan Height Issue

I am trying to use depthimage_laserscan package to convert depth image to 2D laser points. I found the package uses scan_height which uses number of rows (default = 1) for scanning the laser points.

I was trying to find the laser points of the small objects or obstacles in the image, But however its detecting the laser points of the center of the image and fails to detect the smaller obstacles in front of the camera

I tried changing the scan_height to different values but still gives the laser points of the center of the image.

Can anyone help me I am missing anything ?

How to change scan topic?

Hi,

So i have 2 3d cameras and want to create 2 laserscans.

How do you edit the published topic? For example /front/scan and /rear/scan.
Is there a param?

Best regards

nothing being published in the /scan topic

Hey,

I have written a launch file to map the right topics correspondingly, but nothing is being published on /scan topic. could someone help me fix this?

thanks

this is the launch file i used:

<launch>

<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">


  <remap from="image" to="/guidance/depth_image"/>
<remap from="camera_info" to="/guidance/camera_info"/>
</node>

</launch>

Couldn't create laser scan equivalent to that of the Hokuyo Lidar (for front part of the vehicle)

Hello Everyone,
I'm new to depth image and laser scan data usage. I'm trying to use laser scan data obtained from Depth data of ZED Stereo camera. It's axis configuration in the PointCloud2 data is as per this description https://www.stereolabs.com/docs/positional-tracking/coordinate-frames/ and launch file which I'm using on ROS Melodic, Ubuntu 18.04, Nvidia Jetson Xavier is as follows
<launch> <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="DepthImageToLaserScanNodelet"> <remap from="image" to="/zed/depth/depth_registered"/> <remap from="camera_info" to="/zed/depth/camera_info"/> <remap from="scan" to="/scan" /> <rosparam> scan_height: 1 scan_time: 0.0333 range_min: 0.3 range_max: 10.0 </rosparam> </node> </launch>
Branch of depthimage_to_laserscan which I'm using is of @mikaelarguedas .
I think I need to include output_frame_id as well, but not sure how to decide value of this parameter.
Any help would be greatly appreciated.

Failed to compile: /opt/ros/melodic/include/image_geometry/pinhole_camera_model.h:5:10: fatal error: opencv2/core/core.hpp: No such file or directory

Hi, I wanted to use the depth_image_to_laserscan packagewith my intel realsense. Therefore I pulled this repo in my catkin_ws/src folder and when I try to catkin_make, it fails when coming to this package, here is the stack:
[ 9%] Built target depthimage_to_laserscan_gencfg [ 18%] Building CXX object depthimage_to_laserscan/CMakeFiles/DepthImageToLaserScan.dir/src/DepthImageToLaserScan.cpp.o [ 36%] Built target rviz_click_to_2d In file included from /home/palojetson/Documents/palobot/catkin_ws/src/depthimage_to_laserscan/include/depthimage_to_laserscan/DepthImageToLaserScan.h:40:0, from /home/palojetson/Documents/palobot/catkin_ws/src/depthimage_to_laserscan/src/DepthImageToLaserScan.cpp:34: /opt/ros/melodic/include/image_geometry/pinhole_camera_model.h:5:10: fatal error: opencv2/core/core.hpp: No such file or directory #include <opencv2/core/core.hpp> ^~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. depthimage_to_laserscan/CMakeFiles/DepthImageToLaserScan.dir/build.make:62: recipe for target 'depthimage_to_laserscan/CMakeFiles/DepthImageToLaserScan.dir/src/DepthImageToLaserScan.cpp.o' failed make[2]: *** [depthimage_to_laserscan/CMakeFiles/DepthImageToLaserScan.dir/src/DepthImageToLaserScan.cpp.o] Error 1 CMakeFiles/Makefile2:1824: recipe for target 'depthimage_to_laserscan/CMakeFiles/DepthImageToLaserScan.dir/all' failed make[1]: *** [depthimage_to_laserscan/CMakeFiles/DepthImageToLaserScan.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed
Tried many things, it seems my opencv2 is installed, I don't know from where is the issue

Thank you for the help! :D

release 1.0.5 into groovy

It's breaking now: http://jenkins.ros.org/view/GbinP32/job/ros-groovy-depthimage-to-laserscan_binarydeb_precise_i386/61/console

[ 40%] Building CXX object CMakeFiles/DepthImageToLaserScanROS.dir/src/DepthImageToLaserScanROS.cpp.o
/usr/lib/ccache/c++ -DDepthImageToLaserScanROS_EXPORTS -DROS_PACKAGE_NAME="depthimage_to_laserscan" -g -O2 -fstack-protector --param=ssp-buffer-size=4 -Wformat -Wformat-security -fPIC -I/tmp/buildd/ros-groovy-depthimage-to-laserscan-1.0.4-0precise-20130923-0603/obj-i686-linux-gnu/devel/include -I/tmp/buildd/ros-groovy-depthimage-to-laserscan-1.0.4-0precise-20130923-0603/include -I/opt/ros/groovy/include -I/opt/ros/groovy/include/opencv -o CMakeFiles/DepthImageToLaserScanROS.dir/src/DepthImageToLaserScanROS.cpp.o -c /tmp/buildd/ros-groovy-depthimage-to-laserscan-1.0.4-0precise-20130923-0603/src/DepthImageToLaserScanROS.cpp
In file included from /tmp/buildd/ros-groovy-depthimage-to-laserscan-1.0.4-0precise-20130923-0603/src/DepthImageToLaserScanROS.cpp:34:0:
/tmp/buildd/ros-groovy-depthimage-to-laserscan-1.0.4-0precise-20130923-0603/include/depthimage_to_laserscan/DepthImageToLaserScanROS.h:43:49: fatal error: depthimage_to_laserscan/DepthConfig.h: No such file or directory

Release for Noetic

If anyone is able to port this over it would be greatly appreciated. I can build from source for noetic on 20.04 fine so a release should not be much trouble.

http://wiki.ros.org/noetic/Migration

Some questions about the project running

Excuse me，I have successfully installed ROS kinetic and Astra Mini webcam driverUbuntu16.04在ROS kinetic下使用Astra Mini摄像头，I download the code in the Ubuntu 16.04 and I follow this website Linux环境下载github项目并运行 to operate.However，I meet some problems during the Eighth step and
report error：make: *** No targets specified and no makefile found. Stop.
So how do I run this program in the Ubuntu 16.04 ?

Failed to build with ROS2 Bouncy release

Tried to build this package with the RO2 Bouncy release but got blocked. Here are the steps and logs:

$ source <path/to/ros2-linux>/local_setup.bash
$ mkdir -pv ~/ros2_ws/src
$ cd ~/ros2_ws/src
$ git clone https://github.com/ros-perception/depthimage_to_laserscan.git
$ git clone https://github.com/ros-perception/vision_opencv.git
$ cd ~/ros2_ws
$  colcon build --symlink-install --packages-select image_geometry depthimage_to_laserscan
Starting >>> image_geometry
Finished <<< image_geometry [4.86s]                       
Starting >>> depthimage_to_laserscan
--- stderr: depthimage_to_laserscan                         
CMake Error at CMakeLists.txt:6 (find_package):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

  Could not find a package configuration file provided by "catkin" with any
  of the following names:

    catkinConfig.cmake
    catkin-config.cmake

  Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
  "catkin_DIR" to a directory containing one of the above files.  If "catkin"
  provides a separate development package or SDK, be sure it has been
  installed.


---
Failed   <<< depthimage_to_laserscan	[ Exited with code 1 ]

Summary: 1 package finished [6.76s]
  1 package failed: depthimage_to_laserscan
  1 package had stderr output: depthimage_to_laserscan

Notice, vision_openv/image_geometry is need as it must be built before building the depthimage_to_laserscan package.

Could not convert depth image to laserscan

Hello,

I have been trying to make this work for a while in my Pepper robot equipped with a depth sensor and I am getting stuck with the following error:

Could not convert depth image to laserscan: Cannot call rectifyPoint when distortion is unknown.

The fisrt part clearly comes from depthimage_to_laserscan after the colon is coming from the PinholeCameraModel Class. Is not that the error is not clear, but I have no idea how to make this node get the required parameters since I already provided the camera_info topic.
I am running the nodes with the following launch file:

<launch>
  <arg name="range_max" value="3.0" />
  
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
    <remap from="camera_info" to="/pepper_robot/camera/depth/camera_info" />
    <remap from="image" to="/pepper_robot/camera/depth/image_raw" />
    <remap from="scan" to="/pepper_robot/camera/depth/scan" />
    <param name="output_frame_id" value="CameraDepth_frame" />
    <param name="scan_height" value="10" />
    <param name="range_max" value="$(arg range_max)" />
  </node>
</launch>

Worth mentioning I am running in Indigo and 14.04 and I installed the package using sudo apt-get... .
Any help would be appreciated!

depthimage_to_laserscan didn't work with rs_d400_and_t265

Hi !
I wanted to use depthimage_to_laserscan package with rs_d400_and_t265_launch.py on my realsense cameras. But it didn't work at all.

Interestingly, this package somehow worked with rs_launch.py, so I guess that is the problem about topic.....

I'm not used to ROS2 and I don't know how to deal with this problem.

Thank you for the help!!

https://github.com/IntelRealSense/realsense-ros/tree/foxy

Topics not synchronised

I launch the node with remapped topic names. The topics have been received by the node and it throws a warning that it is not receiving any synced pairs.

No rule to make target '/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.3.2.0'

My platform is Jetson TX2 with jetpack 4.2, ros melodic. When I use catkin_make to make depthimage_to_laserscan, there is an error.

make[2]: *** No rule to make target '/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.3.2.0', needed by '/home/sikong/catkin_ws/devel/lib/libDepthImageToLaserScan.so'. Stop.

Node Dies Soon After Launch

I installed the Foxy-devel branch
I'm on a Jetson Xavier NX running ubuntu 20.04, and when I launch the node, it dies almost immediately.

[INFO] [launch]: All log files can be found below /home/jetson_dev/.ros/log/2022-06-17-14-24-10-925028-jetson-dev-desktop-12216
[INFO] [launch]: Default logging verbosity is set to INFO
/home/jetson_dev/ros2_ws/install/depthimage_to_laserscan/share/depthimage_to_laserscan/launch/depthimage_to_laserscan-launch.py:27: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  Node(
/home/jetson_dev/ros2_ws/install/depthimage_to_laserscan/share/depthimage_to_laserscan/launch/depthimage_to_laserscan-launch.py:27: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
  Node(
[INFO] [depthimage_to_laserscan_node-1]: process started with pid [12219]
[ERROR] [depthimage_to_laserscan_node-1]: process has died [pid 12219, exit code -11, cmd '/home/jetson_dev/ros2_ws/install/depthimage_to_laserscan/lib/depthimage_to_laserscan/depthimage_to_laserscan_node --ros-args -r __node:=depthimage_to_laserscan_node -r __node:=depthimage_to_laserscan_node --params-file /home/jetson_dev/ros2_ws/install/depthimage_to_laserscan/share/depthimage_to_laserscan/cfg/param.yaml -r depth:=/camera/depth/image_rect_raw -r depth_camera_info:=/camera/depth/camera_info'].

Is there any way I can keep the node running?

potential bug in range computation

https://github.com/ros-perception/depthimage_to_laserscan/blob/hydro-devel/include/depthimage_to_laserscan/DepthImageToLaserScan.h#L203

If I am not mistaken, the y component should not be a part of the range computation. It is the dimension we are doing away with. Since we take the minimum of all distances as the range value, the output is still correct for completely vertical surfaces.

If someone can confirm this, I can submit a patch.

No camera_info and depth topic exit

Hello guys, I use the depthimage_to_laserscan with melodic, but when I run launch file and rostopic in terminal , only scan topic is exit. It is mean no camera_info and depth topic is exit. What happen?

gampping :depthimage_tolaserscan give error (Scan Matching Failed, using odometry. Likelihood=0)

trying to use depthimage_to _laserscan with gmapping but i got the mentioned error .

in here original topic
https://answers.ros.org/question/311741/depthimage_to_laserscankinect-gmapping-give-error-scan-matching-failed-using-odometry-likelihood0/

Out of range become nan instead of inf.

I read in the wiki https://wiki.ros.org/depthimage_to_laserscan and it says ranges less than range_min will be output as -Inf and +Inf for range_max.
When I try with range_min=0.3 and range_max=4.0, all values not in range become nan. Here is message from rostopic echo https://drive.google.com/file/d/1YSh61ATBp4Xuy6y_YcDfNicW1LBbvW1E/view?usp=sharing

But this is the result after I increase range_max to range_max=10.0
https://drive.google.com/file/d/1Vnczgholi2ksoAOVkHGeTYrr4JSMgLlA/view?usp=sharing

My sensor is realsense d455 and depth image encoding is 16UC1.
ROS distro in noetic. This is how i call node in launch file.

<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
  <remap from="image"       to="/camera/depth/image_rect_raw"/>
  <remap from="camera_info" to="/camera/depth/camera_info"/>
  <remap from="scan"        to="/depth_scan"/>
  <param name="range_max" type="double" value="4.0"/>
  <param name="range_min" type="double" value="0.3"/>
  <param name="output_frame_id" type="string" value="camera_link"/>
</node>