What Is This


ExtractIndices extracts point cloud with input point indices.

Upstream package pcl_ros has similar node which extracts point cloud with point indices. (see here)

The pros of this node compared to it are:

  • supports keep_organized option when extract cloud.

  • connected-based system. (does not subscribe without child subscriber)

  • other params. max_queue_size, approximate_sync

  • support simple command line interface. (you can run with rosrun)

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

Original depth information from which you extract some of them.

  • ~indices (pcl_msgs/PointIndices)

Indices for point cloud you extract.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

Extracted point cloud.


  • keep_organized (Boolean, default: false)

Set keep_organized when extract indices.

  • negative (Boolean, default: false)

Set negative when extract indices.

  • max_queue_size (Int, default: 10)

Max queue size for subscribers.

  • approximate_sync (Boolean, default: false)

If this parameter is true, ~input and ~indices are synchronized with approximate time policy.


roslaunch jsk_pcl_ros sample_attention_clipper.launch