Hi, I am trying to use humanoidlocalization for our AUV. The wiki page said that the humanoidlocalization subscribes to scan and point_cloud. Due to what I understand, one of them will be enough, then how can I tell the node that which one I am using? For example, I am using point cloud from a stereo camera. Is it ok if I just leave the scan topic there (do not input anything to that topic)? ubuntu12.04 and ROS-Fuerte

regards,