PointcloudDatabaseServer¶

../../_images/pointcloud_database_server.png

load PCD or STL model files and publish pointcloud array.

Publishing Topic¶

~output (jsk_recognition_msgs/PointsArray)

Output pointcloud array.
~cloud (sensor_msgs/PointCloud2)

Output pointcloud.

Parameters¶

~models (Array of string, required)

This parameter is an array of PCD/STL model file path.
~duration (Float, default: 1.0)

Time between each publish in seconds.
~use_array (Bool, default: True)

If true, pointcloud array will be published to ~output.

If false, first index of pointcloud array will be published to ~cloud.

Sample¶

roslaunch jsk_pcl_ros sample_pointcloud_database_server.launch