zed_nodelet_example is a ROS package to illustrate how to load the ZEDWrapperNodelet with an external nodelet manager and use the intraprocess communication to generate a virtual laser scan thanks to the nodelet depthimage_to_laserscan
To launch the wrapper nodelet along with the depthimage_to_laserscan nodelet, open a terminal and launch:
$ roslaunch zed_nodelet_example zed_nodelet_laserscan.launch
Note: Remember to change the parameter camera_model to 0 if you are using a ZED or to 1 if you are using a ZED Mini
To visualize the result of the process open Rviz, add a LaserScan visualization and set /zed/scan as topic parameter
Virtual 2D laser scan rendered in Rviz. You can see the projection of the virtual laser scan on the RGB image on the left
Virtual 2D laser scan rendered in Rviz over the 3D depth cloud. You can see the projection of the virtual laser scan on the RGB image on the left
