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how to access rosaria/sonar pointcloud data

asked 2016-06-10 05:03:51 -0500

Himanshu gravatar image

When i used rostopic echo /RosAria/sonar it showed points: which showed x,y,z,data I want to access these x,y,z data with a cpp file. i'm trying msg->points.data()

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answered 2016-06-17 10:21:48 -0500

Anirvan0102 gravatar image

updated 2016-06-17 10:23:18 -0500

Hello Himanshu, You can access the x,y data of all the channels of sonar in the following manner.

` void sonarCallback(const sensor_msgs::PointCloud::ConstPtr& msg) {

for(i=0;i<16;i++)
{
    datax=msg->points[i].x;
    datay=msg->points[i].y;
    ROS_INFO("[%f]",datax);
    ROS_INFO("[%f]",datay);
}
ROS_INFO("....");

}` you can refer to the sensor_msgs/PointCloud for details.

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Asked: 2016-06-10 05:03:51 -0500

Seen: 477 times

Last updated: Jun 17 '16