00001 00002 #include <hrl_head_registration/pcl_basic.h> 00003 00004 int main(int argc, char **argv) 00005 { 00006 ros::init(argc, argv, "pub_pc"); 00007 ros::NodeHandle nh; 00008 PCRGB::Ptr input_pc; 00009 readPCBag(argv[1], input_pc); 00010 00011 ros::Publisher pc_pub = nh.advertise<sensor_msgs::PointCloud2>(argv[2], 100); 00012 while(ros::ok()) { 00013 input_pc->header.stamp = ros::Time().now(); 00014 pc_pub.publish(input_pc); 00015 ros::Duration(0.1).sleep(); 00016 } 00017 return 0; 00018 }