1、首先，下载并安港粕登漪装（编译）pointcloud_to_laserscan。具体命令为~$ mkdir catkin_wspointcloud_to_laserscan~$ cd catkin_wspointcloud_to_laserscan~$ wstool init src~$ cd src~$ git clone https://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_laserscan/src/pointcloud_to_laserscan/launch，新建一个文件touch rslidar.launch，并用gedit编辑其内容如下：<?xml version="1.0"?><launch><!-- run pointcloud_to_laserscan node --><node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan"><remap from="cloud_in" to="/rslidar_points"/><remap from="scan" to="/rslidar/scan"/><rosparam># target_frame: rslidar # Leave disabled to output scan in pointcloud frametransform_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# Concurrency level, affects number of pointclouds queued for processing and number of threads used# 0 : Detect number of cores# 1 : Single threaded# 2->inf : Parallelism levelconcurrency_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~$ source devel/setup.bash~$ roslaunch rslidar_pointcloud rs_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：~$ cd catkin_wspointcloud_to_laserscan/src/pointcloud_to_laserscan/launch~$ roslaunch pointcloud_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。
