Created
April 30, 2018 11:34
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PCL, ROS, pcl to ros msg
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| void loam_wrapper::publishInput(pcl::PointCloud<pcl::PointXYZHSV>::Ptr pc) | |
| { | |
| sensor_msgs::PointCloud2 pc2; | |
| pcl::toROSMsg(*pc, pc2); | |
| pc2.header.stamp = ros::Time().now(); | |
| pc2.header.frame_id = "/world"; | |
| publishInput(pc2); | |
| } | |
| /* Reference | |
| /* https://github.com/adrelino/loam_velodyne-1/blob/master/src/loam/loam_wrapper.cpp | |
| */ |
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pcl::toROSMsg(*pc, pc2); 를 하면 header 값이 초기화 된다.
The header is initialized after the transform pcl::toROSMsg().