Points Concatenate
pcl_apps::PointsConcatenateComponent has these topic interface.
| Input Topics |
Type |
Description |
|---|
| (param : ~/input_topic0) |
sensor_msgs::msg::PointCloud2 |
Input Point Cloud0 |
| (param : ~/input_topic1) |
sensor_msgs::msg::PointCloud2 |
Input Point Cloud1 |
| (param : ~/input_topic2) |
sensor_msgs::msg::PointCloud2 |
Input Point Cloud2 |
| (param : ~/input_topic3) |
sensor_msgs::msg::PointCloud2 |
Input Point Cloud3 |
| Output Topics |
Type |
Description |
|---|
| ~/output |
sensor_msgs::msg::PointCloud2 |
Output Point Cloud |
| Parameter |
Type |
Description |
Default |
|---|
| ~/num_input |
Int |
Number of Input Point Cloud Topics |
2 |
| ~/input_topic0 |
String |
input topic name |
~/input0 |
| ~/input_topic1 |
String |
input topic name |
~/input1 |
| ~/input_topic2 |
String |
input topic name |
~/input2 |
| ~/input_topic3 |
String |
input topic name |
~/input3 |
Description
pcl_apps::PointsConcatenateComponent subscribes multiple pointcloud topics and concatenate them.
pcl_apps::PointsConcatenateComponent use approximate time synchronizer in ROS2.
Requirements
- all of input topic frame should be same.
- all of the input topic should be published if you want to publish output pointcloud.
How to launch with single node
ros2 run pcl_apps points_concatenate_node