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Marius Bock
crs
Commits
60474b2d
Commit
60474b2d
authored
Dec 06, 2018
by
CRS-User
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asd
parent
c8abb77c
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src/point_processing_node/main.cpp
src/point_processing_node/main.cpp
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src/point_processing_node/main.cpp
View file @
60474b2d
...
...
@@ -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
();
...
...
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