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How to gain access to newly created point cloud map

asked 2011-10-03 04:46:20 -0500

tyler258 gravatar image

After successfully running my point cloud data through the laser assembler node and creating a composite map how do I gain access to this new map and send it to different nodes?

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answered 2011-10-03 05:42:48 -0500

DimitriProsser gravatar image

The laser_assembler node publishes to the assembled_cloud topic. You can then subscribe to this topic to gain access to the data in a ROS node. The assembled_cloud message is of the type sensor_msgs/PointCloud. You could use something like:

cloud_sub_ = node_.subscribe<sensor_msgs::PointCloud> ("/assembled_cloud", 100, &MyNode::CloudCallback, this);
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Asked: 2011-10-03 04:46:20 -0500

Seen: 177 times

Last updated: Oct 03 '11