This package uses a nodelet to transform point clouds to a given frame.

Required arguments

• input_topic : Name of the input sensor_msgs::PointCloud2 topic.
• output_topic : Name of the output sensor_msgs::PointCloud2 topic.
• target_frame : Name of the desired frame for the transformation.
• nodelet_manager : Name of the nodelet manager to host this nodelet.

Optional arguments (false by default)

• publish_tf : Publish a generic transformation.
• launch_manager : Launch a nodelet manager to host this nodelet.

Usage with velodyne_height_map

In your launch file:

1. Create a nodelet manager.

    <node pkg="nodelet" type="nodelet" name="EXAMPLE_MANAGER" args="manager"/>
   

2. Include the launch file of this package, providing the required arguments. The output topic must be /velodyne_points.

    <include file="$(find grull_transform_pointcloud)/launch/launch.launch">
      <arg name="input_topic"     value="name_of_PointCloud2_topic"/>
      <arg name="output_topic"    value="/velodyne_points"/>
      <arg name="target_frame"    value="frame_id_of_the_world"/>
      <arg name="nodelet_manager" value="EXAMPLE_MANAGER"/>
    </include>
   

3. Start a velodyne_height_map nodelet.

    <node pkg="nodelet" type="nodelet" name="heightmap_nodelet"
          args="load velodyne_height_map/HeightMapNodelet EXAMPLE_MANAGER">
      <param name="cell_size" value="0.1"/>
      <remap from="velodyne_obstacles" to="obstacles"/>
    </node>