example_d435_voxel_echoer_node.cpp

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#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

ros::Publisher pub;

void cb(const sensor_msgs::PointCloud2::ConstPtr & msg)
{
  sensor_msgs::PointCloud2 msg2 = *msg;
  msg2.header.stamp = ros::Time::now();
  pub.publish(msg2);
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "d435_voxel_echoer_node");
  ros::NodeHandle n;
  
  // Wait for time to become valid
  ros::Time::waitForValid();

  pub = n.advertise<sensor_msgs::PointCloud2>("/camera/depth/color/points/filtered_echoed", 10);
  ros::Subscriber sub = n.subscribe<sensor_msgs::PointCloud2>("/camera/depth/color/points/filtered", 10, cb);

  ros::spin();

  return 0;
}