ros-perception/perception_pcl — pull request #64 by paulbovbel (2014-10-05 18:58:51+00:00)
Title: Add pointcloud_to_laserscan nodelet

Restore pointcloud_to_laserscan functionality to ROS, along with some improvements:
- allow transforming pointcloud prior to conversion, allowing tilted sensors to be used.
- add concurrency parameter to process multiple pointclouds at once
- parametrize whether to assign empty rays range_max+1 or inf, for costmap_2d compatibility