TfTransformCloud

Description

Transforms a point cloud in a given target TF frame.Refer discussion at Github issue

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

Input point cloud

Publishing Topic

• ~output (sensor_msgs/PointCloud2)

Transformed point cloud which has ~target_frame_id as header.frame_id

Parameters

• ~target_frame_id (String, default: base_footprint)

Parent TF frame to be transformed

Sample

<launch>
  <include file="$(find openni_launch)/openni_launch.launch" />
  <node pkg="tf" type="static_transform_publisher"
        args="10 20 30 20 10 20 /camera_link /tf_test_link 100" />
  <node name="pc_transformer" pkg="nodelet" type="nodelet"
        args="load jsk_pcl/TfTransformCloud /camera_nodelet_manager"
        output="screen" />
    <remap from="~input" to="/camera/depth/points" />
    <rosparam>
      target_frame_id: /tf_test_link
    </rosparam>
  </node>
</launch>