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rtabmap_ros service to get point cloud?

asked 2021-05-17 04:18:55 -0500

flabrosse gravatar image

rtabmap_ros has a service to get the latest map data and one to make it publish it (which seems to also make it publish the point cloud). I can't find an equivalent to get the latest point cloud (directly, without using a subscriber). Did I miss something?

Thanks.

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answered 2021-05-17 16:43:58 -0500

matlabbe gravatar image

The is no explicit service to get the point cloud of the map. It is published at each update though and the topic is latched. If you subscribe to /rtabmap/cloud_map, you will automatically get the latest point cloud.

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I saw that. I was hoping for an explicit way of getting it because using a subscriber and callback is making the structure of my program very messy. Thanks anyway.

flabrosse gravatar image flabrosse  ( 2021-05-18 02:38:54 -0500 )edit

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Asked: 2021-05-17 04:18:55 -0500

Seen: 21 times

Last updated: May 17