preparing the new PCL-based package

ros-pkg-git · Nov 24, 2010 · 6759144 · 6759144
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commit 6759144
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diff --git a/kinect_pcl/launch/passthrough.launch b/kinect_pcl/launch/passthrough.launch
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+<launch>
+  <!-- Run a passthrough filter to clean NaNs -->
+  <node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough kinect_manager" output="screen">
+    <remap from="~input"  to="/kinect/points2" />
+    <remap from="~output" to="/kinect_pcl/points2_pass" />
+    <rosparam>
+      filter_field_name: z
+      filter_limit_min: 0.01
+      filter_limit_max: 5.0
+      filter_limit_negative: False
+    </rosparam>
+  </node>
+</launch>
+
diff --git a/kinect_pcl/launch/voxelgrid.launch b/kinect_pcl/launch/voxelgrid.launch
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
+  <node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid kinect_manager" output="screen">
+    <remap from="~input" to="/kinect/points2" />
+    <remap from="~output" to="/kinect_pcl/points2_grid" />
+    <rosparam>
+      filter_field_name: z
+      filter_limit_min: 0.01
+      filter_limit_max: 1.5
+      filter_limit_negative: False
+      leaf_size: 0.01
+    </rosparam>
+  </node>
+
+</launch>
+