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2022-09-06 18:06:18 -0500 | marked best answer | PCL - coordinates from PointCloud2 message Hey guys, So I'm a little new to ROS, so forgive some amateurishness. I'm working with a LiDAR that publishes a topic (/Sensor/points) in the format sensor_msgs::PointCloud2. I'm trying to write a subscriber program (C++) to take this data and output the x,y,z coordinates. I'm later hoping to store these values for some analysis. I've converted the PointCloud2 format to a PointCloud<pointxyz> format and then, when I print points.size(), the LiDAR is outputting over 40,000 points every time the callback function is invoked. I'm assuming that these are 40,000 sets of x,y and z coordinates and I want to access these. I've tried to do points[0] (many different numbers apart from zero as well) and all I get is (nan,nan,nan). Any help would be greatly appreciated! I've attached my code below (except the include fies). For reference, this is ROS-Indigo on Ubuntu 14.04 LTS. Thanks, Rayal |
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2017-07-07 10:31:07 -0500 | commented question | PCL - coordinates from PointCloud2 message This worked! You were right - I filtered out the points that were not finite and got left with the data I needed. Thank |
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2017-07-03 16:34:40 -0500 | asked a question | PCL - coordinates from PointCloud2 message PCL - coordinates from PointCloud2 message Hey guys, So I'm a little new to ROS, so forgive some amateurishness. I'm wo |