What Is This


Pass through input point cloud only when specified robot joints are static.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud to which you want to apply this filter.

  • ~input_joint_state (sensor_msgs/JointState)

    Input joint state of the robot.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Filtered point cloud.


  • ~joint_names (List of String, default: [])

    Target joint list to check if static.

    If no joint is specified, this node does not publish anything.


roslaunch jsk_pcl_ros sample_joint_state_static_filter.launch