PointCloudToPCD

What is this?

Subscribe PointCloud2 topic and save in pcd file.

Subscribing Topic

• ~input (sensor_msgs/PoinCloud2)

Parameters

• prefix (String, default: Empty)

  prefix of PCD filenames. pcd files are saved as {prefix}{stamp}.pcd.

• binary (Boolean, default False)

  save binary pcd files.

• compressed (Boolean, default False)

  save as compressed pcd files. this parameter is only effective when binary is True.

• fixed_frame (String, default: Empty)

  transform point cloud to fixed frame. when it is empty, point cloud is not transformed.

• duration (Double, default: 1.0)

  Saving duration. You can change saving frequency with this parameter.