sergifoix's profile - activity

Hi, PCL is not integrated in ROS anymore. But there is package that allows you to perform conversions between ros and pcl messages. In order to publish pcl::ModelCoefficients you must do the following:

#include < pcl_conversions/pcl_conversions.h>

...

ros::Publisher pub;

// Create a ROS publisher for the output point cloud

pub = nh.advertise< pcl_msgs::ModelCoefficients> ("output", 1);

// ros message

pcl_msgs::ModelCoefficients ros_coefficients;

// pcl message

pcl::ModelCoefficients pcl_coefficients;

....

pcl_conversions::fromPCL(pcl_coefficients, ros_coefficients);

pub.publish(ros_coefficients);