Revision history [back]

I suspect you're using two different leaf sizes. The tutorial you linked to shows a leaf size of 0.1 (line 26):

sor.setLeafSize (0.1, 0.1, 0.1);

The default leaf size for the nodelet is 0.01 as seen in the config file, line 13:

gen.add ("leaf_size", double_t, 0, "The size of a leaf (on x,y,z) used for downsampling.", 0.01, 0, 1.0)

As shown in this tutorial, you can set the leaf size for the nodelet in the launch file for comparison, but to change your code to match the nodelet, try changing line 26 to:

sor.setLeafSize (0.01, 0.01, 0.01);

If that doesn't work, please post both your code and the launch file you're using for comparison.