Pointcloud transformer

Installation

catkin build pointcloud_transformer

Usage

This package transforms sensor_msgs/Pointcloud or sensor_msgs/Pointcloud2 to some other TF frame and republishes it.

A) For input topic of type sensor_msgs/Pointcloud

roslaunch pointcloud_transformer pointcloud_transformer1.launch

• ~input_pcl: input_topic (sensor_msgs/Pointcloud)
• ~output_pcl: output_topic (sensor_msgs/Pointcloud)

B) For input topic of type sensor_msgs/Pointcloud2

roslaunch pointcloud_transformer pointcloud_transformer2.launch

• ~input_pcl2: input_topic (sensor_msgs/Pointcloud2)
• ~output_pcl2: output_topic (sensor_msgs/Pointcloud2)

Parameters

• to_frame: to what TF frame the input pointcloud is transformed to, default: (base_link)

Credits

Robin Schmid, [email protected] Tim Kambic, [email protected]