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Hi, I need the pointcloud from Velodyne VLP16. The author of velodyne drive mentioned that "velodyne_pointcloud publishes its data using a custom PCL point definition: velodyne_pointcloud::PointXYZIR". Does that mean that is a topic? If so, after I did roslaunch "velodyne_pointclound VLP16_points.launch", nothing like that are in the topic list. Did I misunderstood something?
I followed the suggestion for the author to run ring_colors_nodelet which publishes velodyne_rings. However, velodyne_rings is still pointCloud2 instead of msg that contains x,y and z information of the point cloud from the Velodyne sensor.
The name of the topic is /velodyne_points.
Sir, thanks for your prompted reply. The part I don't understand is in colors.cc the node subscribes to /velodyne_points. In the call back function, the field x,y and z can be accessed by "inMsg->points[i].x". But /velodyne_points doesn't have those field. I must have missed something.
Asked: 2016-10-23 06:01:24 -0500
Seen: 1,267 times
Last updated: Oct 24 '16
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