What Is This

This nodelet will republish the pointcloud which is transformed with the designated frame_id.


  • Input
    • ~input (sensor_msgs/PointCloud2): input pointcloud
  • Output
    • ~output (sensor_msgs/PointCloud2): output pointcloud.


  • ~target_frame_id (string): The frame_id to transform pointcloud.

  • ~duration (Double, default: 1.0)

    Second to wait for transformation

  • ~use_latest_tf (Bool, default: false)

    If this parameter is true, ignore timestamp of tf to transform pointcloud.

  • ~tf_queue_size (Int, default: 10)

    Queue size of tf message filter to synchronize tf and ~input topic.


Plug the depth sensor which can be launched by openni.launch and run the below command.

roslaunch jsk_pcl_ros tf_transform_cloud.launch