1、首先，下载并安港粕登漪装（编译）pointcloud_to_laserscan。具体命令为~$ mkdir catkin_wspointcloud_to_laserscan~$ cd catkin_wspointcloud_to_laserscan~$ wstool init src~$ cd src~$ git clone https://github.com/ros-perception/pointcloud_to_laserscan~$ cd ..~$ catkin_make~$ source ~/.bashrc在catkin_wspointcloud_to_laserscan文件夹下将得到如图所示三个文件。
