ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
You will find that the VoxelGrid filter is already available as a nodelt (http://wiki.ros.org/pcl_ros/Filters#VoxelGrid, http://wiki.ros.org/pcl_ros/Tutorials/VoxelGrid%20filtering).
Read the ROS/PCL overview for a description on how to subscribe, publish, and convert between the different datatypes.