Add pointcloud_to_laserscan dependency and add to nav launch file

ParadigmEngineering · Jun 3, 2022 · 31c0557 · 31c0557
1 parent 48a4867
commit 31c0557
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diff --git 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
@@ -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>