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transform_pointcloud

ROS nodelet that transforms pointcloud (sensor_msgs/Pointcloud or sensor_msgs/Pointcloud) to some other TF frame (e.g. from "camera_frame" to "base_link"). It uses sensor_msgs/point_cloud_conversion.h for conversion. It will publish both Pointcloud and Pointcloud2 messages for any input type (if any node is subscribed to it)

Subscribed topics

  • ~input_pcl (sensor_msgs/Pointcloud) input topic
  • ~inptu_pcl2 (sensor_msgs/Pointcloud2) input topic

Published topics

  • ~output_pcl (sensor_msgs/Pointcloud) output topic
  • ~output_pcl2 (sensor_msgs/Pointcloud2) output topic

Parameters

  • to_frame (string, default:base_link) to what TF frame to transform the output

TF

  • required is the transform from frame that input pointcloud is to frame set by to_frame parameter

Usage

See transform_pointcloud/launch/transform.launch for example