PointcloudDatabaseServer

../../_images/pointcloud_database_server.png

load PCD or STL model files and publish pointcloud array.

Publishing Topic

  • ~output (jsk_recognition_msgs/PointsArray)

    Output pointcloud array.

  • ~cloud (sensor_msgs/PointCloud2)

    Output pointcloud.

Parameters

  • ~models (Array of string, required)

    This parameter is an array of PCD/STL model file path.

  • ~duration (Float, default: 1.0)

    Time between each publish in seconds.

  • ~use_array (Bool, default: True)

    If true, pointcloud array will be published to ~output.

    If false, first index of pointcloud array will be published to ~cloud.

Sample

roslaunch jsk_pcl_ros sample_pointcloud_database_server.launch