Hi!
I am trying to assemble point clouds (PointCloud2) received from a Kinect sensor mounted on a mobile robot, both of which are being simulated in Gazebo. I have been following these [steps](http://wiki.ros.org/laser_assembler). The tf tree is being set up fine. The laser assembler service node (name=Kinect_point_cloud_assembler) is set up and running.
I have the following ros graph:
I have the following tf tree:
The client node I am using is as follows:
#include
#include
#include
#include
#include
using namespace laser_assembler;
int main(int argc, char *argv[])
{
ros::init(argc,argv,"point_cloud_assembler");
ros::NodeHandle nh;
ros::service::waitForService("assemble_scans2");
ros::ServiceClient client = nh.serviceClient("assemble_scans2");
AssembleScans2 srv;
srv.request.begin = ros::Time(0,0);
srv.request.end = ros::Time::now();
if(client.call(srv)){
// printf("Got cloud with %u points\n", srv.response.cloud.points.size());
pcl::PointCloud::Ptr cloud_assembled(new pcl::PointCloud());
pcl::fromROSMsg(srv.response.cloud,*cloud_assembled);
ROS_INFO("Number of Cloud Points =%d \n",cloud_assembled->width);
}
else{
printf("Service call failed\n");
}
return 0;
}
When I run the client node for requesting the assembled point cloud I get the following output:
[INFO] [1552485878.037815075]: Number of Cloud Points =0
I do not understand what I am doing wrong. Everything seems fine and there are no warnings nor error messages. Please help.
This is the launch file I am using to launch point_cloud2_assembler:
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