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Topics with rgb/points or depth_registered/points are typically XYZRGB (that is, colored clouds), those with depth/points are non-colored XYZ clouds.

I have no idea what pointcloud_to_laserscan/CloudThrottle does -- but I'm going to be it outputs an XYZ cloud and ar_kinect needs XYZRGB. I would suggest looking at using topic_tools node throttle (http://wiki.ros.org/topic_tools) which won't disturb the data.

Topics with rgb/points or depth_registered/points are typically XYZRGB (that is, colored clouds), those with depth/points are non-colored XYZ clouds.

I have no idea what pointcloud_to_laserscan/CloudThrottle does -- but I'm going to be guess it outputs an XYZ cloud and ar_kinect needs XYZRGB. I would suggest looking at using topic_tools node throttle (http://wiki.ros.org/topic_tools) which won't disturb the data.

Topics with rgb/points or depth_registered/points are typically XYZRGB (that is, colored clouds), those with depth/points are non-colored XYZ clouds.

I have no idea what pointcloud_to_laserscan/CloudThrottle does -- but I'm going to guess it outputs an XYZ cloud and ar_kinect needs XYZRGB. I would suggest looking at using topic_tools throttle node throttle (http://wiki.ros.org/topic_tools) which won't disturb the data.