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rtabmap_ros service to get point cloud?

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

flabrosse
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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

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

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

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Last updated: May 17 '21

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rtabmap_ros service to get point cloud?