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Is the filtered_topic what you are looking for? From moveit.ros.org/wiki/3D_Sensors:
- filtered_cloud_topic: If this parameter is specified, the filtered cloud (without robot parts) is also republished. This makes things a little less efficient but can be useful for debugging.
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Is the filtered_topic what you are looking for? From moveit.ros.org/wiki/3D_Sensors:
- filtered_cloud_topic: If this parameter is specified, the filtered cloud (without robot parts) is also republished. This makes things a little less efficient but can be useful for debugging.
Edit: hm, this is only the point cloud after self-filtering, so may not be what you are after.
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