Class PCDReader

Inheritance Relationships

Base Type

  • public PCLNodelet

Class Documentation

class PCDReader : public PCLNodelet

Point Cloud Data (PCD) file format reader.

Author

Radu Bogdan Rusu

Public Types

typedef sensor_msgs::PointCloud2 PointCloud2
typedef PointCloud2::Ptr PointCloud2Ptr
typedef PointCloud2::ConstPtr PointCloud2ConstPtr

Public Functions

inline PCDReader()

Empty constructor.

virtual void onInit()
inline void setPublishRate(double publish_rate)

Set the publishing rate in seconds.

Parameters:

publish_rate – the publishing rate in seconds

inline double getPublishRate()

Get the publishing rate in seconds.

inline void setTFframe(std::string tf_frame)

Set the TF frame the PointCloud will be published in.

Parameters:

tf_frame – the TF frame the PointCloud will be published in

inline std::string getTFframe()

Get the TF frame the PointCloud is published in.

Protected Attributes

double publish_rate_

The publishing interval in seconds. Set to 0 to only publish once (default).

std::string tf_frame_

The TF frame the data should be published in (“/base_link” by default).

std::string file_name_

The name of the file that contains the PointCloud data.

PointCloud2Ptr output_

The output point cloud dataset containing the points loaded from the file.