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/aggregate_clouds might be what you are looking for, but it is one big cloud containing all the points from all processed point clouds so far. Using this would need way to much bandwidth, as all points will be sent over and over again. Also it needs to be triggerd, just as /batch_clouds

From what I understand, you want to have the all point clouds with the respective camera transformations, but online, not offline. You can do this by subscribing to the point clouds from the openni node, just as RGBDSLAM does and transforming them to the map frame RGBDSLAM sends out (which will of course lag behind a little, so you'll need to cache the clouds). You'll not get the corrections to the older camera transforms, though.

Actually I'll have to look up, whether the latest transform is still continuously sent out. It used to be so in the first version, but it might have been thrown out when we refactored the tf stuff.