transform_pointcloud

ROS nodelet that transforms pointcloud (sensor_msgs/Pointcloud or sensor_msgs/Pointcloud) to some other TF frame (e.g. from "camera_frame" to "base_link"). It uses sensor_msgs/point_cloud_conversion.h for conversion. It will publish both Pointcloud and Pointcloud2 messages for any input type (if any node is subscribed to it)

Subscribed topics

• ~input_pcl (sensor_msgs/Pointcloud) input topic
• ~inptu_pcl2 (sensor_msgs/Pointcloud2) input topic

Published topics

• ~output_pcl (sensor_msgs/Pointcloud) output topic
• ~output_pcl2 (sensor_msgs/Pointcloud2) output topic

Parameters

• to_frame (string, default:base_link) To what TF frame to transform the output
• transform_timeout (double, default: 0.5 seconds) How long to block before failing
• polling_timeout (double, default: 0.1 seconds) How often to retest if failed

TF

• required is the transform from frame that input pointcloud is to frame set by to_frame parameter

Usage

See transform_pointcloud/launch/transform.launch for example