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Change topic on pcd_to_pointcloud

asked 2013-04-11 12:18:26 -0600

mdegges gravatar image

updated 2013-04-11 12:20:11 -0600

Hi- Does anyone know how to change the topic that a pointcloud is being published on using pcd_to_pointcloud? On the wiki it only says you can change the frame_id, like so:

$ rosrun pcl_ros pcd_to_pointcloud cloud_file.pcd 0.1 _frame_id:=/odom

pcd_to_pointcloud publishes on the default /cloud_pcd topic, but I'd like to specify my own topic. I tried changing _frame_id:=/ to _topic:=/my_topic but that doesn't seem to work.

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Edit: The above works fine if I want to look at just one pointcloud. I set the fixed frame to whatever (/base_link, in the wiki) and the topic stays as /cloud_pcd. But I can only view one cloud at a time in rviz. I would like to see multiple pointclouds on the same rviz screen.

mdegges gravatar image mdegges  ( 2013-04-11 14:13:17 -0600 )edit

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answered 2013-04-11 13:11:38 -0600

tfoote gravatar image

You need to use Remapping Arguments the _ is for parameters.

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What do you mean by 'the _is for parameters'?

mdegges gravatar image mdegges  ( 2013-04-11 13:48:10 -0600 )edit

hey, I figured it out. I needed to change the namespace, and the directions were right there in your link. thanks for your help!!

mdegges gravatar image mdegges  ( 2013-04-11 14:29:32 -0600 )edit

For anyone struggling with this, it all means that you need to do: /cloud_pcd:=/your_topic

sophvk gravatar image sophvk  ( 2022-07-04 14:47:24 -0600 )edit

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Asked: 2013-04-11 12:18:26 -0600

Seen: 1,519 times

Last updated: Apr 11 '13