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1

How can I convert PointCloud2 to PointCloud?

asked 2014-03-17 02:58:51 -0600

hannuaa
11 ●4 ●4 ●5

updated 2014-07-24 05:47:46 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Hi ! I have some problems when I run a "laser-perception.launch" of PR2. The errors are:

Client [/point_cloud_assembler] wants topic /tilt_scan_cloud_filtered to have datatype/md5sum [**sensor_msgs/PointCloud**/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection

and so is the topic /tilt_scan_cloud. The topics' type is sensor_msgs/PointCloud2.

So I think the solution is that PointCloud2 should be converted to PointCloud. But I don't know how convert PointCloud2 to PointCloud in a launch file. thank you so much.

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My ROS is fuerte. the "laser-perception.launch" is in http://wiki.ros.org/motion_planning_environment/Tutorials/Making%20collision%20maps%20from%20self-filtered%20tilting%20laser%20data

hannuaa ( 2014-03-17 03:17:19 -0600 )edit

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answered 2014-07-24 01:19:32 -0600

flag of United States of America

47576 ●179 ●367 ●662 http://namniart.com/

via @neil-traft:

Your question is covered in the PCL Overview. In particular, you can either run the point_cloud_converter node, or you can use sensor_msgs::convertPointCloud2ToPointCloud.

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Asked: 2014-03-17 02:58:51 -0600

Seen: 10,021 times

Last updated: Jul 24 '14

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