ROS Hydro / Indigo PointCloud to Laserscan for 2D Navigation

UPDATE: see my step by step guide for depthimage_to_laserscan here.

PointClouds need a lot of processing and network traffic load. For 2D navigation LaserScans are a good option to decrease this loads, in my case below to 30% of the original.

So after starting my customized openni2_launch (the launchers of openni_camera, and both ros drivers) with a custom Openni2 driver dir:

(OPENNI2_DRIVERS_PATH fixes all issues with the camera driver nodelet)

its possible to process this down to a /scan topic by:

or directly in a launch file using the handy nodelet manager:

After that it is possible to visualize the new topic using rviz getting something like that:

of course the robot is still able to laserscan with the xtion (now in rainbow indicating z of the camera)

 

 

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