Re: [ros-users] Publishing a vector of point clouds

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Re: [ros-users] Publishing a vector of point clouds

Radu B. Rusu
Administrator
Nicolas,


On 01/21/2011 06:40 AM, Nicolás Alvarez Picco wrote:
> As far as I know it is not possible to publish pcl::PointCloud<pcl::PointXYZ>. You need to use the function
> pcl::toROSMsg(, ); to transform the pcl point cloud to a sensor_msgs point cloud and the publish it!

Luckily - we added support for that/fixed it in trunk :)

Check this: http://point-cloud-library-pcl-mailing-list.967500.n3.nabble.com/PCL-0-7-Released-td2124937.html

We'll release 0.8 as soon as we get Windows support rock solid.

Cheers,
Radu.
--
http://pointclouds.org

>
> Nicolas
>
>
>  > From: [hidden email]
>  > Date: Fri, 21 Jan 2011 09:07:40 -0500
>  > To: [hidden email]
>  > Subject: Re: [ros-users] Publishing a vector of point clouds
>  >
>  > The following command will find all files that use a particular message:
>  >
>  > rosmsg users package/message_type
>  >
>  > You can then search the returned files for a message file that contains an array of the message.
>  >
>  > Cheers,
>  > Ben
>  >
>  > On Jan 21, 2011, at 8:32 AM, cmuell2s wrote:
>  >
>  > > Hello all,
>  > >
>  > > I stuck at a small problem. I would like to publish a vector/array of
>  > > pcl::PointCloud<pcl::PointXYZ>.
>  > > I couldn't find a sensor_msg or std_msg which would do it, did I
>  > > overlooked sth?
>  > >
>  > > Does anybody have a clue? Maybe a link to an example?
>  > >
>  > > Thanks a lot for any comment.
>  > >
>  > > Christian Mueller
>  > >
>  > >
>  > >
>  > >
>  > >
>  > > _______________________________________________
>  > > ros-users mailing list
>  > > [hidden email]
>  > > https://code.ros.org/mailman/listinfo/ros-users
>  >
>  > _______________________________________________
>  > ros-users mailing list
>  > [hidden email]
>  > https://code.ros.org/mailman/listinfo/ros-users
>
>
>
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-users
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Re: [ros-users] Publishing a vector of point clouds

Radu B. Rusu
Administrator
Christian,


On 01/21/2011 05:32 AM, cmuell2s wrote:
> Hello all,
>
> I stuck at a small problem. I would like to publish a vector/array of
> pcl::PointCloud<pcl::PointXYZ>.
> I couldn't find a sensor_msg or std_msg which would do it, did I
> overlooked sth?

Unfortunately you need to define your own message type for that. So far we only support publishing a single
pcl::PointCloud<T> type.

In general, if you have a message Foo.msg and you want to send an array of Foo, you need to declare another message
Bar.msg, which has "Foo[] foo" inside.

Cheers,
Radu.
--
http://pointclouds.org
_______________________________________________
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Re: [ros-users] Publishing a vector of point clouds

Kei Okada
Hi Radu

> Unfortunately you need to define your own message type for that. So far we only support publishing a single
> pcl::PointCloud<T> type.

Do you have plan to support publishing multiple pcl::PointCloud<T> or
PointCloudArray.msg the feature official release of PCL_ROS?
I encountered the same situation when I'm trying to publish the result
of SceneAnalyzer of OpenNI/NITE which is to publish point cloud data
for each segmented human volumes.
I thought other people require same message type when they build the
node to publish , for example, multiple planner surface, cylinder
object  in the point cloud data. Or, is there other way for them?

On Sat, Jan 22, 2011 at 2:17 AM, Radu Bogdan Rusu <[hidden email]> wrote:

> Christian,
>
>
> On 01/21/2011 05:32 AM, cmuell2s wrote:
>> Hello all,
>>
>> I stuck at a small problem. I would like to publish a vector/array of
>> pcl::PointCloud<pcl::PointXYZ>.
>> I couldn't find a sensor_msg or std_msg which would do it, did I
>> overlooked sth?
>
> Unfortunately you need to define your own message type for that. So far we only support publishing a single
> pcl::PointCloud<T> type.
>
> In general, if you have a message Foo.msg and you want to send an array of Foo, you need to declare another message
> Bar.msg, which has "Foo[] foo" inside.
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
> _______________________________________________
> [hidden email] / http://pointclouds.org
> https://code.ros.org/mailman/listinfo/pcl-users
>
_______________________________________________
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