asd

src/point_processing_node/main.cpp

@@ -33,7 +33,7 @@ void callback(CloudRGBA::ConstPtr msgPtr) {
     voxelFilter.filter(*filteredPtr);
 
     // Set the header of the message. Just some shabby details ...
-    filteredPtr->header.frame_id = "filtered_frame";
+    filteredPtr->header.frame_id = "crs_filtered_vg_frame";
     pcl_conversions::toPCL(ros::Time::now(), filteredPtr->header.stamp);
 
     // Publish cloud
@@ -52,7 +52,7 @@ int main(int argc, char** argv){
     subscriber = node.subscribe<CloudRGBA>("/kinect2/sd/points", 1, callback);
 
     // Init publisher and set topic
-    publisher = node.advertise<CloudRGBA>("/crs/points", 5);
+    publisher = node.advertise<CloudRGBA>("/crs/filtered_vg", 5);
 
     // Run!
     ros::spin();