where does a pcd specify the frame (for ROS)?

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where does a pcd specify the frame (for ROS)?

Adam Leeper
Hi-

I can't find documentation on the pcd format when it's saved as ascii.

I have some synthetic data I want to publish using pcd_to_pointcloud.

By default when I run pcd_to_pointcloud it publishes it with header frame_id = "base_link". Looking in the source, it looks like this is default and not set as a parameter anywhere. Did I miss it somewhere? If people agree this should be fixed, I will update so it can be set on the parameter server.

Thanks,
Adam


Adam Leeper
Stanford University
[hidden email]
719.358.3804

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Re: where does a pcd specify the frame (for ROS)?

Radu B. Rusu
Administrator
Adam,

Are you just looking for a way to specify the base_link on the pcd_to_pointcloud tool? If so, it would be great to do it
at command line using redirection.

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

On 01/31/2011 03:02 PM, Adam Leeper wrote:

> Hi-
>
> I can't find documentation on the pcd format when it's saved as ascii.
>
> I have some synthetic data I want to publish using pcd_to_pointcloud.
>
> By default when I run pcd_to_pointcloud it publishes it with header frame_id = "base_link". Looking in the source, it
> looks like this is default and not set as a parameter anywhere. Did I miss it somewhere? If people agree this should be
> fixed, I will update so it can be set on the parameter server.
>
> Thanks,
> Adam
>
>
> Adam Leeper
> Stanford University
> [hidden email] <mailto:[hidden email]>
> 719.358.3804
>
>
>
> _______________________________________________
> [hidden email] / http://pointclouds.org
> https://code.ros.org/mailman/listinfo/pcl-users
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users