Mastering ROS for Robotics Programming - Second Edition

How to subscribe and process the point cloud

In this example, we will see how to subscribe the generated point cloud on the topic /pcl_output. After subscribing the point cloud, we apply a filter called the VoxelGrid class in PCL to down-sample the input cloud by keeping the same centroid of the input cloud. You will get the example code pcl_filter.cpp from the src folder of the package:

#include <ros/ros.h> #include <pcl/point_cloud.h> #include <pcl_conversions/pcl_conversions.h> #include <sensor_msgs/PointCloud2.h> //Vortex filter header #include <pcl/filters/voxel_grid.h> //Creating a class for handling cloud data class cloudHandler { public: cloudHandler() { //Subscribing pcl_output topics from the publisher //This topic can change according ...