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Republish a topic data

Hello,

first of all here is my setup : Ubuntu 16.04 with ROS kinetic and Gazebo 7.0.

I have a Scenario where a simulated turtlebot drives to several objects. Actual i need some pointcloud data from him but only from the approach.

I got already some help from jarvisschultz, he helps me with the idea to use pointcloud_to_pcd to subscribe a node that only publishs pointcloud data during the approach. My question now is how to republish the pointcloud data from /depth/points ?

Republish a topic data

Hello,

first of all here is my setup : Ubuntu 16.04 with ROS kinetic and Gazebo 7.0.

I have a Scenario where a simulated turtlebot drives to several objects. Actual i need some pointcloud data from him but only from the approach.

I got already some help from jarvisschultz, he helps me with the idea to use pointcloud_to_pcd to subscribe a node that only publishs pointcloud data during the approach. My question now is how to republish the pointcloud data from /depth/points /depth/points ?