PointCloudToPCD¶
What is this?¶
Subscribe PointCloud2 topic and save in pcd file.
Subscribing Topic¶
~input
(sensor_msgs/PoinCloud2
)
Parameters¶
prefix
(String, default: Empty)prefix of PCD filenames. pcd files are saved as
{prefix}{stamp}.pcd
.binary
(Boolean, defaultFalse
)save binary pcd files.
compressed
(Boolean, defaultFalse
)save as compressed pcd files. this parameter is only effective when
binary
isTrue
.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.