What Is This?


Filter organized pointcloud based on specified index range.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)
Organized point cloud.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)
Filtered point cloud.


  • min_index (Int, default: 0)

    Minimum index that are included.

  • max_index (Int, default: 640)

    Maximum index that are included.

  • keep_organized (Boolean, default: true)

Set keep_organized when extract indices.
  • filter_limit_negative (Boolean, default: false)

    Set negative when convert indices to point cloud.

  • filter_field (Int, default: 0)

    • 0: Filter based on x field.
    • 1: Filter based on y field.