I am new to Ros and I did not know where to ask for my problem so I am mentioning it here : from the pclros page, I found simple tutorials http://wiki.ros.org/pclros/Tutorials on how to use nodelets and get filtered point cloud data, which I am visualizing in Rviz.Now when i am using the voxelgrid example,everything is working well as mentioned in the tutorial page http://wiki.ros.org/pclros/Tutorials/VoxelGrid%20filtering .I am also able to change it to normalestimation which is also working perfectly fine but as soon as i change the nodelet name to movingleastsquare and add necessary parameters,the code runs successfully without any output data : launch file is the same file of voxelgrid " nodelet name changed to "movingleastsquares" and rosparam changed to " usepolynomialfit: True polynomialorder: 2 searchradius: 0.01 spatial_locator: 1" The node is launching successfully with following ros message :

SUMMARY

PARAMETERS * /movingleastsquares/polynomialorder: 2 * /movingleastsquares/searchradius: 0.01 * /movingleastsquares/spatiallocator: 1 * /movingleastsquares/usepolynomial_fit: True * /rosdistro: noetic * /rosversion: 1.16.0

NODES / movingleastsquares (nodelet/nodelet) pcl_manager (nodelet/nodelet)

ROSMASTERURI=http://localhost:11311

process[pclmanager-1]: started with pid [506159] process[movingleastsquares-2]: started with pid [506160] [ INFO] [1683543729.235523468]: Loading nodelet /movingleastsquares of type pcl/MovingLeastSquares to manager pclmanager with the following remappings: [ INFO] [1683543729.236303681]: /movingleastsquares/input -> /iiwa/points2 [ INFO] [1683543729.237529465]: waitForService: Service [/pclmanager/loadnodelet] has not been advertised, waiting... [ INFO] [1683543729.245983706]: Initializing nodelet with 16 worker threads. [ INFO] [1683543729.258164755]: waitForService: Service [/pclmanager/loadnodelet] is now available. [ WARN] [1683543729.335462770]: [configcallback] usepolynomialfit is deprecated, use polynomialorder instead! But when i echo using:"rostopic echo /movingleastsquares/output" then i get this :

is_dense: True

header: seq: 113457 stamp: secs: 1683546941 nsecs: 629104000 frameid: "world" height: 1 width: 0 fields: - name: "x" offset: 0 datatype: 7 count: 1 - name: "y" offset: 4 datatype: 7 count: 1 - name: "z" offset: 8 datatype: 7 count: 1 isbigendian: False pointstep: 16 rowstep: 0 data: []

is_dense: True

header: seq: 113458 stamp: secs: 1683546941 nsecs: 729128000 frameid: "world" height: 1 width: 0 fields: - name: "x" offset: 0 datatype: 7 count: 1 - name: "y" offset: 4 datatype: 7 count: 1 - name: "z" offset: 8 datatype: 7 count: 1 isbigendian: False pointstep: 16 rowstep: 0 data: []

is_dense: True

header: seq: 113459 stamp: secs: 1683546941 nsecs: 829121000 frameid: "world" height: 1 width: 0 fields: - name: "x" offset: 0 datatype: 7 count: 1 - name: "y" offset: 4 datatype: 7 count: 1 - name: "z" offset: 8 datatype: 7 count: 1 isbigendian: False pointstep: 16 rowstep: 0 data: []

is_dense: True