What is this?

Subscribe PointCloud2 topic and save in pcd file.

Subscribing Topic

  • ~input (sensor_msgs/PoinCloud2)


  • prefix (String, default: Empty)

    prefix of PCD filenames. pcd files are saved as {prefix}{stamp}.pcd.

  • binary (Boolean, default False)

    save binary pcd files.

  • compressed (Boolean, default False)

    save as compressed pcd files. this parameter is only effective when binary is True.

  • fixed_frame (String, default: Empty)

    transform point cloud to fixed frame. when it is empty, point cloud is not transformed.

  • duration (Double, default: 1.0)

    Saving duration. You can change saving frequency with this parameter.