In this chapter, we have explored the different tools, algorithms, and interfaces that can be used to work with point clouds in ROS. The reader might have noticed that we have tried to link the examples together to provide more insight into how these kinds of nodes might be used in a reusable manner. In any case, given the computational price of point cloud processing, any kind of architectural design will be inextricably linked to the computational capabilities of the system at hand.
The data flow of our examples should start with all the data producers, which are
pcl_read. It should continue to the data filters, which are
pcl_downsampling. After the filtering is performed, more complex information can be ...