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I guess you are looking for the pcl_ros package. It contains functions to do exactly what you want. Have a look here:

http://www.ros.org/doc/api/pcl_ros/html/namespacepcl__ros.html

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I guess you are looking for the pcl_ros package. It contains functions to do exactly what you want. Have a look here:

http://www.ros.org/doc/api/pcl_ros/html/namespacepcl__ros.htmlhttp://docs.ros.org/api/pcl_ros/html/namespacepcl__ros.html