From 0353e6f206c56a9d7a1b05bcb1cc679b381d7723 Mon Sep 17 00:00:00 2001
From: Colton Smith <cnsmith@mun.ca>
Date: Thu, 2 Jun 2022 05:40:13 -0230
Subject: [PATCH] Add pointcloud_to_laserscan dependency and add to nav launch
 file

---
 ROS/example_pkg/package.xml         | 1 +
 ROS/para_nav/launch/nav-test.launch | 5 +++++
 2 files changed, 6 insertions(+)

diff --git a/ROS/example_pkg/package.xml b/ROS/example_pkg/package.xml
index 800c3b8..aa166cf 100644
--- a/ROS/example_pkg/package.xml
+++ b/ROS/example_pkg/package.xml
@@ -59,6 +59,7 @@
   <build_depend>ros_controllers</build_depend>
   <build_depend>nmea_navsat_driver</build_depend>
   <build_depend>pcl_ros</build_depend>
+  <build_depend>pointcloud_to_laserscan</build_depend>
 
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
diff --git a/ROS/para_nav/launch/nav-test.launch b/ROS/para_nav/launch/nav-test.launch
index ae3107b..62acc4a 100644
--- a/ROS/para_nav/launch/nav-test.launch
+++ b/ROS/para_nav/launch/nav-test.launch
@@ -5,4 +5,9 @@
 
         <node pkg="para_nav" type="para_nav_node" name="para_nav_node" ns="para" output="screen">
         </node>
+
+        <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_lasercan" ns="para" output="screen">
+                <remap from="cloud_in" to="pcl/segmented"/>
+        </node>
+
 </launch>