Hi all,

[Linux Distribution: Ubuntu 18.04, ROS Distribution: ROS Melodic, 3D Camera: ifm 03D303]

Full disclaimer: I am new to ROS.

I would like to display the string data of name from the pointfield array. Any hints or direction to how would i go about doing this?

Appreciate the help.

#include <ros/ros.h>

// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/point_cloud_conversion.h>

ros::Publisher pub;

void
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
  // Create a container for the data.
  sensor_msgs::PointCloud2 output;
  output = *input;

  for(int i = 0; i < output.fields.size(); ++i) {
   geometry_msgs::Point32 point
   double arr[i];
   arr[i] = output.point[i];
   ROS_INFO("[%s]", arr.c_str());
  }

  pub.publish (output);
}

int
main (int argc, char** argv)
{
  // Initialize ROS
  ros::init (argc, argv, "test_node");
  ros::NodeHandle nh;

  // Create a ROS subscriber for the input point cloud
  ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2> ("/ifm3d/camera/cloud", 1, cloud_cb);

  // Create a ROS publisher for the output point cloud
  pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);

  // Spin
  ros::spin ();
}

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
  // Create a container for the data.
  sensor_msgs::PointCloud2 output;
  output = *input;

  // Publishing the camera frame id
  // ROS_INFO("[%s]", output.header.frame_id.c_str());

  for(int i = 0; i < output.fields.size(); ++i) {
    ROS_INFO("[%s]", output.fields.name.c_str());
  }

  pub.publish (output);
}

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
  // Create a container for the data.
  sensor_msgs::PointCloud2 output;
  output = *input;

  // Publishing the camera frame id
  ROS_INFO("Frame ID is: [%s]", output.header.frame_id.c_str());

  // Publishing the name string in PointField array 
  for(int i = 0; i < output.fields.size(); ++i) {
    ROS_INFO("PointField array consists of: [%s]", output.fields[i].name.c_str());
  }

  pub.publish (output);
}