pointcloud_filters

The pointcloud_filters package, based on RComponent structure. Node to filter a PointCloud2 message.

1 lower_resolution_filter

This node filters a PointCloud2 message in a "n" factor to decrease the bandwidth required for the website. It also reduces the frequency of the publication.

1.1 Parameters

• ~reduce_points_factor (int, default: 4) Decrease pointcloud size factor.
• ~desired_freq (double, default: 4.0) Publication frequency of the filtered PointCloud
• ~pointcloud_in (string, default: front_rgbd_camera/depth/points) Topic name of the input PointCloud
• ~pointcloud_filtered (string, default: throttle/front_rgbd_camera/depth/points) Topic name of the filtered PointCloud

1.2 Subscribed Topics

• front_rgbd_camera/depth/points (sensor_msgs/PointCloud2) Topic with the raw PointCloud

1.3 Published Topics

• throttle/front_rgbd_camera/depth/points (sensor_msgs/PointCloud2) Topic with the filtered PointCloud

1.4 Bringup

roslaunch pointcloud_filters lower_resolution_filter.launch