Class PointCloudAssembler

Defined in File point_cloud_assembler.hpp

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_ROS_PUBLIC PointCloudAssembler(const rclcpp::NodeOptions &options)

virtual ~PointCloudAssembler()