GitLab

This package includes the depthtolaserscan node, which converts the
RealSense depth image into a laser scan.  Note the python version runs
very slowly (0.3Hz!).  So I converted to CPP, which runs happily
@30Hz.  Simply catkin_make and use the non-python executable, i.e.
  rosrun depthtolaserscan depthtolaserscan

There are a few parameters, including the minimum height above the
floor (to avoid the ground being an obstacle), the maximum height (so
we can drive under tables), as well as a sample density.  The defaults
work well for me, but I am curious how sensitive they are to other
bots?