Points Concatenate¶
pcl_apps::PointsConcatenateComponent has these topic interface.
| Input Topics | Type | Description |
|---|---|---|
| (param : ~/input_topic/0) | sensor_msgs::msg::PointCloud2 | Input Point Cloud0 |
| (param : ~/input_topic/1) | sensor_msgs::msg::PointCloud2 | Input Point Cloud1 |
| (param : ~/input_topic/2) | sensor_msgs::msg::PointCloud2 | Input Point Cloud2 |
| (param : ~/input_topic/3) | sensor_msgs::msg::PointCloud2 | Input Point Cloud3 |
| (param : ~/input_topic/4) | sensor_msgs::msg::PointCloud2 | Input Point Cloud4 |
| (param : ~/input_topic/5) | sensor_msgs::msg::PointCloud2 | Input Point Cloud5 |
| (param : ~/input_topic/6) | sensor_msgs::msg::PointCloud2 | Input Point Cloud6 |
| (param : ~/input_topic/7) | sensor_msgs::msg::PointCloud2 | Input Point Cloud7 |
| 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_topic/0 | String | input topic name | ~/input0 |
| ~/input_topic/1 | String | input topic name | ~/input1 |
| ~/input_topic/2 | String | input topic name | ~/input2 |
| ~/input_topic/3 | String | input topic name | ~/input3 |
| ~/input_topic/4 | String | input topic name | ~/input4 |
| ~/input_topic/5 | String | input topic name | ~/input5 |
| ~/input_topic/6 | String | input topic name | ~/input6 |
| ~/input_topic/7 | String | input topic name | ~/input7 |
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