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The Laserscan and Pointcloud Combiner is a ROS 1 node that can combine PointCloud2 and LaserScan input sources by selecting the nearest detection. The computed nearest detection is converted to the laserscan format and published to a LaserScan topic. The package supports at most 1 PointCloud2 source and 2 LaserScan sources.
A ros2 package to merge several laserscan topics by creating a new virtual laserscan topic. Each source laserscan could be configure via the parameter to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan
This code was used to implement a sagittal-plane LIDAR for the Scott Robot, as part of a project I worked on at Plymouth University. A custom, lightweight ROS node is used to encode LIDAR readings into a 2D image, which is then analysed using OpenCV algorithms as a proof-of-concept.