File _service:obs_scm:README.en.md of Package ros2_depthimage_to_laserscan

# ros2_depthimage_to_laserscan

#### Description
The basic software package of ros2.

#### Software Architecture
Software architecture description

https://github.com/ros-perception/depthimage_to_laserscan.git

input:
```
depthimage_to_laserscan/
├── cfg
│   └── param.yaml
├── CHANGELOG.rst
├── CMakeLists.txt
├── include
│   └── depthimage_to_laserscan
│       ├── DepthImageToLaserScan.hpp
│       ├── DepthImageToLaserScanROS.hpp
│       └── depth_traits.hpp
├── launch
│   ├── depthimage_to_laserscan_composed-launch.py
│   └── depthimage_to_laserscan-launch.py
├── mainpage.dox
├── package.xml
├── README.md
├── src
│   ├── depthimage_to_laserscan.cpp
│   ├── DepthImageToLaserScan.cpp
│   └── DepthImageToLaserScanROS.cpp
└── test
    ├── depthimage_to_laserscan_rostest.cpp
    ├── DepthImageToLaserScanTest.cpp
    └── rostest
        └── depthimage_to_laserscan.test
```

#### Installation

1.  Download RPM

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/depthimage_to_laserscan/ros-foxy-ros-depthimage_to_laserscan-2.3.1-1.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/depthimage_to_laserscan/ros-foxy-ros-depthimage_to_laserscan-2.3.1-1.oe2203.x86_64.rpm
```

2.  Install RPM

aarch64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-depthimage_to_laserscan-2.3.1-1.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-depthimage_to_laserscan-2.3.1-1.oe2203.x86_64.rpm
```

#### Instructions

Dependence installation:

```
sh /opt/ros/foxy/install_dependence.sh
```

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

```
depthimage_to_laserscan/
├── include
│   └── depthimage_to_laserscan
│       ├── DepthImageToLaserScan_export.h
│       ├── DepthImageToLaserScan.hpp
│       ├── DepthImageToLaserScanROS_export.h
│       ├── DepthImageToLaserScanROS.hpp
│       └── depth_traits.hpp
├── lib
│   ├── depthimage_to_laserscan
│   │   └── depthimage_to_laserscan_node
│   ├── libDepthImageToLaserScanROS.so
│   └── libDepthImageToLaserScan.so
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── depthimage_to_laserscan
        ├── cfg
        ├── cmake
        ├── environment
        ├── hook
        ├── launch
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh

```
#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request

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