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HOW TO USE ON ROS1 (melodic and noetic)

Set Up

  1. Download necessary package for this package.
$ sudo apt-get install ros-$ROS_DISTRO-pcl-ros # for pcl_ros
  1. Download transform_pointcloud package.
$ cd ~/catkin_ws/src/
$ git clone https://github.com/HHorimoto/transform_pointcloud.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/.bashrc

Launch

Launch transform_pointcloud.launch

$ roslaunch transform_pointcloud transform_pointcloud.launch

Parameters

  • topic_in : topic (PointCloud2) name that you want to transfom. default : /camera/depth/color/points (Realsense D435i)

  • topic_out : topic name after transform. default : /tf_cloud

  • target_frame : link name of transform target. default : /base_link

Test

This package provides test bash for use with Github Actions. This test confirms if msg is published or not. You can also do this test on your computer by following this command.

$ roscd transform_pointcloud
$ bash -xv test/test.bash
$ echo $?
0 # It means success. if the number is "1", it means failure.