Why cannot launch node of type [laser_geometry/laser_geometry]
I need to transfer from `sensor_msgs::LaserScan` to `sensor_msgs::PointCloud2`. I found laser_geometry package, (http://wiki.ros.org/laser_geometry). Because there is no ROS API, I found a link which...
View ArticleUnderstand PointCloud2 msg (data array)
Hi everyone, I used rostopic echo and received a bunch of PointCloud2 Msg, but I have a hard time understand it especially for the "data" array. Here is one example: header: seq: 0 stamp: secs:...
View ArticleROS2: topic subscribed but not received
I have a device driver that publishes a Pointcloud2 message at 30 Hz. I can subscribe the message in Rviz and I can see the correct pointcloud. When I move the camera in 3D view the pointcloud...
View ArticleReading PointCloud2 in C++
How do you read a PointCloud2 in C++? I'm interested in getting the depth(z point). Maybe an equivalent of this: [reading pointcloud2 in python](https://code.ros.org/trac/ros-pkg/ticket/4440).
View ArticleRGB and Depth sensor_msgs::Image vs XYZRGB sensor_msgs::PointCloud2
Hello, So I have ROS running across multiple machines on a limited network, and I have two possibilities, transfer a XYZRGB sensor_msgs::PointCloud2 directly or two sensor_msgs::Image (one rgb and one...
View ArticleGenerate PointCloud2 without sensor
How can I construct a sensor_msgs::PointCloud2 message from scratch, in c++? I have looked up the structure and documentation of that message but I don't know how to build it up. Does someone have an...
View ArticleTrouble visualizing PointCloud2 in Rviz
Hello, I publish a PointCloud2 message to a predefined topic that rviz's PointCloud display subscribes to (/output) successfully, but the pointcloud does not show up on the visualization. I know it...
View ArticleEquivalent of Marker frame_locked for PointCloud2 in rviz?
I have knowledge that point clouds are locked (have an unchanging transform relative to) a moving frame. The rviz point cloud won't move with the moving frame because at the one timestamp it was...
View ArticleCode examples of Pointcloud Autonomous Navigation?
I am currently using a VLP-16 device that produces Pointcloud data type messages. I have tried with no success to convert them to Laserscan for Autonomous Navigation (as that appears to be the popular...
View ArticleIm trying to transform a pointcloud (rotation along z) using the following...
#include #include #include #include void callback(const sensor_msgs::PointCloud2ConstPtr &cloud_msg) { ROS_INFO("Message recieved:"); //msg to c string Eigen::Matrix4f transform_1 =...
View Articlehow to compute the centroid of the PointCloud2
I am considering how can I compute the centroid of sensor_msgs/PointCloud2, is there a direct way to do this? Because I only find he pcl::CentroidPoint< PointT > Class Template Reference *[link...
View ArticleMaintain/keep all the PointCloud2 in Rviz
I am publishing PointCloud2 in Rviz, but when I publish the current PointCloud2 msg from the topic, the last msg will disappear, how can I maintain all the PointCloud2 in Rviz?
View ArticleHow to know Ring/Layer/Laser(/Color) from PointCloud2
Hi, friend. I am using Ubuntu 14.04 and ROS Indigo for the sensor **Velodyne VLP-16**. I am trying to extract the useful Information form `PointCloud2` and reorder them to the format that I needed....
View Articlesensor_msgs pointcloud2 color value ?
Does sensor_msgs/PointCloud2 data type also contains the rgb value of the image? Currentely i'm using below code, and when i publish the converted pcl type, it also shows rgb values, how is that...
View Articlerviz stops node from publishing
Hallo, I have weird problem with rviz in ros. I have a node, who receives a PointCloud and formats it into a PointCloud2 and publishes a PointCloud2 message afterwards. I can display that pointcloud...
View Articlebuild octomap using pointcloud2 data
I could use a little help getting Octomap to publish occupancy grid cell data. I have been reading the explanation on the ROS Wiki for how to build an Octomap using the octomap_server node, and...
View ArticleTarget pose from pointcloud
Hi, I'm using ROS kinetic and PCL to find a target point. The aim is to use moveit to move to the target point/pose. I used pcl to create a concave hull and as shown in the code below, I publish the tf...
View ArticleGenerate and publish PointCloud2 in ros2?
What's the most convenient way to generate a bunch of points in a loop, assign xyz (and possibly rgb), and then publish as a PointCloud2? I'm interested in a full C++ code example mainly but python...
View ArticleIssue with message_filters and PointCloud2 in python
I want to subscribe to pointcloud data and image data and sync them and then publish them again. I have written a short and simple script for this: import rospy from sensor_msgs.msg import Image as...
View ArticleVisualize pointcloud2 without PCL
I have a stereo-camera and it provides rgb images as well as pointcloud2 data, to which I subscribe like this: self.pointcloud_sub = rospy.Subscriber("/nerian_stereo/point_cloud", PointCloud2,...
View Articledoes PointCloud2 have redundant fields?
I'm thinking of hijacking the PointCloud2 message to display a set of data. Each data point has position, orientation, and another integer value. I see that I have to tell PointCloud2 the width/height...
View Articlelaser_assembler not giving output
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...
View ArticleOrganizing point cloud from HDL-32E
Hi there, in order to accelerate the data processing on my HLD-32E I would like to organized the data. To this point, I could, under Octave, compute manually an point cloud. But I do actually have no...
View ArticleHow to convert PointCloud2 message to a grid?
I'm using a Velodyne sensor which publishes on `/velodyne_points`, and Its class type is `PointCloud2`. Now I want to convert `PointCloud2` message into a grid space (cylindrical) instead of spherical...
View Articlehow to keep speed when use point cloud with object detection
I am using a SSD (single shot multibox) detector to detect the objects, the speed was 33 frames per second before adding point cloud to estimating the distance between the object to the camera which is...
View ArticleIn-Place Modification of PointCloud2 message?
I am subscribing to a `sensor_msgs/PointCloud2` message (points with: x,y,z,intensity) and I would like to change the intensity value based on some heuristic in my code. In principle the code looks...
View ArticleConversion from Point Cloud (PCL) to PointCloud2 (ROS) not showing result on...
Hello, I followed [this tutorial](http://wiki.ros.org/pcl/Tutorials) using `PCL` libraries to perform the conversion from point cloud into a `ROS` readable message `PointCloud2`. After compiling and...
View ArticleTried to insert a message with time less than ros::TIME_MIN Aborted (core...
Hello, after successfully reading `.pcd` file from a file as asked on my [previous...
View Articlepublishing custom pointcloud2 message
hii, I am trying to publish message on topic point cloud 2. The value of x is in double. The value of y is in double. The value of z is in double . The value of intensity in in Uchar. Can some one...
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