PointCloud Ros Publisher
#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
ros::Publisher pub;
void
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
// Create a container for the data.
sensor_msgs::PointCloud2 output;
// Do data processing here...
output = *input;
// Publish the data.
pub.publish (output);
}
int
main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "my_pcl_tutorial");
ros::NodeHandle nh;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
// Spin
ros::spin ();
}