Class PointCloudAssembler

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class PointCloudAssembler : public rclcpp::Node

This nodelet can assemble a number of clouds (max_clouds) coming from the same sensor, taking into account the displacement of the robot based on fixed_frame_id, then publish the resulting cloud. If fixed_frame_id is set to “” (empty), the nodelet will subscribe to an odom topic that should have the exact same stamp than to input cloud. The output cloud has the same stamp and frame than the last assembled cloud.

Public Functions

explicit RTABMAP_UTIL_PUBLIC PointCloudAssembler(const rclcpp::NodeOptions &options)
virtual ~PointCloudAssembler()