Extract a horizontal ring of rslidar PointCloud2 and publish it as a LaserScan message.
For now, only support 10 Hz RS16/RS32/RSBP/RSHELIOS/RSHELIOS_16P/RS80/RS128.
catkin_make
Please set the right model and the sub_topic in the rslidar_laserscan.launch.
source devel/setup.bash
roslaunch rslidar_laserscan rslidar_laserscan.launch
Launch rviz, subscribe the topic "rslidar_laserscan", and view the laserscan messages.