ROS Package: RGB to DRGB to LaserScan Converter

Description

This ROS package enables the conversion of RGB images to depth images using Depth Anything V2 and subsequently transforms the depth image into LaserScan data.

Possible Applications

• SLAM: Uses an RGB camera for 2D mapping, so no additional LiDAR sensor is required.
• VSLAM: Uses an RGB camera for visual SLAM, so a depth camera is not necessary.
• ..

Nodes

• RGB to Depth Conversion

Subscribed Topics:

• RGB Image (sensor_msgs/Image):

  • Topic: (/usb_cam/image_raw)

• Camera Info (sensor_msgs/CameraInfo):

  • Topic: (/usb_cam/camera_info)

Published Topics:

• Depth Image (sensor_msgs/Image):

  • Topic: (/depth/image_raw)

• Depth Camera Info (sensor_msgs/CameraInfo):

  • Topic: (/depth/camera_info)

• Depth to LaserScan Conversion

Subscribed Topics:

• Depth Image (sensor_msgs/Image):

  • Topic: /depth/image_raw

• Camera Info (sensor_msgs/CameraInfo):

  • Topic: /depth/camera_info

Published Topics:

• Laser Scan (sensor_msgs/LaserScan):
  • Topic: scan

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Installation

Dependencies

This package is built for ROS Noetic, but it might build for ROS Melodic too. Additionally, the package depends on following packages and python libraries:

ROS Packages

• usb-cam
• depthimage_to_laserscan

Python Libraries

• torch
• torchvision
• opencv-python

1. Install Dependencies

sudo apt update
sudo apt install ros-noetic-usb-cam
sudo apt install ros-noetic-depthimage-to-laserscan
pip install opencv-python torch torchvision

2. Building

cd ~/catkin_ws/src
git clone https://github.com/3bdul1ah/rgbimage_to_laserscan
cd .. && catkin_make
source devel/setup.bash

3. Run the Project

After completing the installation steps, make sure you calibrate your camera using the instructions here. You can then run the example:

roslaunch depth_anything_v2_ros webcam_laser.launch