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Publish RTABMAP cloud_map as ordered point cloud

asked 2021-03-04 07:17:05 -0500

MRRobot
60 ●5 ●8 ●12

I am using a D435 and T256 to record 3d data with realsense_ros. D435 data is published as a ordered point cloud. Environment point cloud is assembled with RTABMAP and published as cloud_map.

Is it possible to get cloud_map published as ordered point cloud(height > 1)?

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