Adding custom ROS PointCloud type

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Adding custom ROS PointCloud type

maneeshjnm
Hi,
I am trying to add a custom PointCloud type. I was able to add a custom
point type in PCL using
http://pointclouds.org/documentation/tutorials/adding_custom_ptype.php
<http://pointclouds.org/documentation/tutorials/adding_custom_ptype.php>  .

But I fail to do it on ROS. I am basically trying to add new field(apart
from X,Y,Z,I) to either *sensor_msgs::PointCloud2* or *pcl::PCLPointCloud2*,
so that I can then convert to my created custom /PointT/ type in PCL. Does
anybody have an idea how to approach this ?



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Re: Adding custom ROS PointCloud type

maneeshjnm
Thanks Patrick. This works.

On Sat, Jun 9, 2018 at 5:31 AM, Brown, Patrick <[hidden email]> wrote:
Maneesh,
Just kidding.
ROS has no restriction on the type you want to store.
You need to create a ROS point cloud by hand.

<a href="https://answers.ros.org/question/219876/using-sensor_msgspointcloud2-native ly/" rel="noreferrer" target="_blank">https://answers.ros.org/question/219876/using-sensor_msgspointcloud2-native
ly/
You just create your own. The is getting pol to read it.

Pat,

On 6/9/18, 8:13 AM, "Brown, Patrick" <[hidden email]> wrote:

>Yes I do but not for free.
>
>On 6/8/18, 6:32 PM, "PCL-users on behalf of maneeshjnm"
><[hidden email] on behalf of [hidden email]>
>wrote:
>
>>ut I fail to do it on ROS. I am basically trying to add new field(apart
>>from X,Y,Z,I) to either *sensor_msgs::PointCloud2* or
>>*pcl::PCLPointCloud2*,
>>so that I can then convert to my created custom /PointT/ type in PCL.
>>Does
>>anybody have an idea how to approach this ?
>



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Regards,
Maneesh J

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