Can webservice stream PointCloud2?

asked 2016-10-26 15:30:13 -0600

jacksonkr_ gravatar image

updated 2016-11-09 15:25:17 -0600

I can get rostopics to show up in a webpage via rosbridge. This works for basic topic types like std_msgs/string but it does not work for complex types like PointCloud2.

I installed web_video_service and depthcloud_encoder and everything appears to be working but when I connect to http://localhost:9999/stream?topic=/depthcloud_encoded I receive no data and I'll see

[ WARN] [1477510583.942768733]: Messages of type 1 arrived closer (0.034002894) than the lower bound you provided (1.500000000) (will print only once)

in the terminal for rosrun depthcloud_encoder. Same thing if I run rostopic echo /depthcloud_encoded, no data and that output in the depthcloud_encoder terminal.

I've searched on google for an answer and on the depthcloud_encoder github I found a similar issue already listed. I think the repo is unsupported at this point.

Is there another way to stream point clouds over a webservice? For reference, I'm using ubuntu 14.04 and ros-indigo.

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