Hi Jan,

Sounds like a good idea, there are quite a few use cases that
depthimage_to_laserscan doesn't cover. Check out
http://docs.ros.org/hydro/api/catkin/html/howto/index.html for information
on how to prepare your package for release (at the minimum, it should be
useable from the install space via catkin_make install).

On a technical note, consider adapting the code to be a nodelet instead,
that way it can be plugged directly into the camera_nodelet manager. The
nodelet can access the pointcloud data in shared process memory instead of
serializing/deserializing over sockets, leading to a pretty significant
speedup.

Cheers,
Paul Bovbel

On 2014-08-01 07:20, The ROS release mailing list wrote:
> Hello,
> I recently found myself in need of some code for converting PointCloud2
> to LaserScan for my Velodyne clouds. Before migrating from fuerte to
> indigo, I have been using the pointcloud_to_laserscan package from
> turtlebot but I could not find any equivalent for Indigo. Therefore I
> ended up copying node's files from the turtlebot git fuerte tag,
> catkinizing the package and converting it to a standard node (instead of
> a nodelet). The results of that can be seen at Github repository
> https://github.com/piappl/cloud_to_scan.
>
> Now I've got the idea that this kind of node could be useful for some
> other people and could be released as a standalone package. Should you
> decide that this is a good idea, I would gladly maintain this package
> and clean the code/add some features.
>
> Kind regards,
> Jan Czarnowski
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