Right now my lidar is publishing pointclould on /Sensor/points
I want it to publish on /filtered_cloud
instead
How can I do that?
Using remapping. You'll want to read up on it, as it's a very valuable piece of functionality when working with ROS. A previous Q&A about it: #q303611.
In your case -- and assuming you're using roslaunch
-- something like this should work:
<launch>
<!-- this is where you start your lidar driver -->
<node name=".." type=".." pkg="..">
<!-- here we map the original topic the driver is programmed to use,
to whatever we want it to use -->
<remap from="/Sensor/points" to="/filtered_cloud" />
</node>
</launch>
Note that the exact names used in from
and to
depend on how things are setup wrt namespaces and presence/absence of leading slashes, so you may need to change something there. This is just the basic idea.