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I had the same problem so I used standalone pcl library. I compiled PCL from source and added the following lines to CMakeLists.txt in the package:

find_package(PCL 1.6 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS}) 
link_directories(${PCL_LIBRARY_DIRS}) 
add_definitions(${PCL_DEFINITIONS})

I successfully executed some of the examples.

I had the same problem so I used standalone pcl library. I compiled PCL from source and added the following lines to CMakeLists.txt in the package:package (remember to create a package that does not depend on pcl_ros):

find_package(PCL 1.6 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS}) 
link_directories(${PCL_LIBRARY_DIRS}) 
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(example src/example.cpp)
target_link_libraries(example ${PCL_LIBRARIES})

I successfully executed some of the examples.examples. If your purpose is to execute pcl tutorial examples, then you do not need to create a ROS package. However, if your purpose is to view the pcl data you can use the following procedure: 1. roslaunch openni_launch openni.launch 2. convert sensor_msgs::PointCloud2 data to pcl::PointCloud<pcl::pointxyz> 3. Then create a pcl::visualization::CloudViewer object to view the pcl::PointCloud data. In this case you will not need OpenNIGrabber.

I had the same problem so I used standalone pcl library. I compiled PCL from source and added the following lines to CMakeLists.txt in the package (remember to create a package that does not depend on pcl_ros):

find_package(PCL 1.6 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS}) 
link_directories(${PCL_LIBRARY_DIRS}) 
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(example src/example.cpp)
target_link_libraries(example ${PCL_LIBRARIES})

I successfully executed some of the examples. If your purpose is to execute pcl tutorial examples, then you do not need to create a ROS package. However, if your purpose is to view the pcl data you can use the following procedure: procedure:

1. roslaunch openni_launch openni.launch
2. convert sensor_msgs::PointCloud2 data to pcl::PointCloud<pcl::pointxyz>
pcl::PointCloud<pcl::PointXYZ>
3. Then create a pcl::visualization::CloudViewer object to view the pcl::PointCloud data.

In this case you will not need OpenNIGrabber.