在学习SLAM过程中，购置了一台RS-LiDAR-16激光雷达，本篇讲述如何将通过激光雷达得到的3D点云数据转化为2D的。
工具/原料
RS-LiDAR-16
Ubuntu14.05
方法/步骤
1、首先，下载并安港粕登漪装（编译）pointcloud_to_laserscan。具体命令为~$mkdircatkin_wspointcloud_墉掠载牿to_laserscan~$cdcatkin_wspointcloud_to_laserscan~$wstoolinitsrc~$cdsrc~$gitclonehttps://github.com/ros-perception/pointcloud_to_laserscan~$cd..~$catkin_make~$source~/.bashrc在catkin_wspointcloud_to_laserscan文件夹下将得到如图所示三个文件。
2、然后，切换到目录cd~/catkin_wspointcloud_to_las娣定撰钠erscan/src/poin墉掠载牿tcloud_to_laserscan/launch，新建一个文件touchrslidar.launch，并用gedit编辑其内容如下：<?xmlversion="1.0"?><launch><!--runpointcloud_to_laserscannode--><nodepkg="pointcloud_to_laserscan"type="pointcloud_to_laserscan_node"name="pointcloud_to_laserscan"><remapfrom="cloud_in"to="/rslidar_points"/><remapfrom="scan"to="/rslidar/scan"/><rosparam>#target_frame:rslidar#Leavedisabledtooutputscaninpointcloudframetransform_tolerance:0.01min_height:-0.4max_height:1.0angle_min:-3.1415926#-M_PIangle_max:3.1415926#M_PIangle_increment:0.003#0.17degreescan_time:0.1range_min:0.2range_max:100use_inf:trueinf_epsilon:1.0#Concurrencylevel,affectsnumberofpointcloudsqueuedforprocessingandnumberofthreadsused#0:Detectnumberofcores#1:Singlethreaded#2->inf:Parallelismlevelconcurrency_level:1</rosparam></node></launch>
3、接着，连接好硬件部分，开启雷达，命令如下：~$cd~/catkin_wsrslidar~$sourcedevel/setup.bash~$roslaunchrslidar_pointcloudrs_lidar_16.launch
4、最后，用Ctrl+Shift+T命令打开新的终端，启动点云3D数据转换：~$cdcatkin_wspointcloud_to_laserscan/src/pointcloud_to_laserscan/launch~$roslaunchpointcloud_to_laserscan在rviz中去掉pointcloud2后面的勾，并增加topic：/rslida/scan得到2D结果如图所示。
