PCDReaderWithPose

../../_images/pcd_reader_with_pose.png

Publish cloud with given pose

Parameters

  • ~pcd_file (Strng, required)

    file name of pcd for publish

Subscribing Topocs

  • ~input (geometry_msgs/PoseStamped)

    Pose for published pcd.

Publishing Topics

  • ~output (sensor_msgs/PointCloud2)

    Point cloud whose position and orientation is filled from ~input.

    Also, frame ID will be the same as ~input.

Sample

roslaunch jsk_pcl_ros_utils sample_pcd_reader_with_pose.launch