## repository: https://code.ros.org/svn/ros-pkg <> <> ||<#FF0000>''DEPRECATED'' (Diamondback)|| Please convert to using PointCloud2, alternatively you can checkout it by yourself at: https://github.com/pal-robotics-forks/point_cloud_converter === Usage === The point_cloud_converter package contains a single node (with the same name) that can be used to convert data between the old sensor_msgs/PointCloud and the new sensor_msgs/PointCloud2 data formats, and viceversa. To achieve this, the node accepts inputs on two ROS topics: * '''~points_in''' for PointCloud, * and '''~points2_in''' for PointCloud2. The outputs will be generated as follows: * if the input data is coming in on '''~points_in''' as PointCloud messages, the output will go on '''~points2_out''' as PointCloud2 messages; * if the input data is coming in on '''~points2_in''' as PointCloud2 messages, the output will go on '''~points_out''' as PointCloud messages. Examples: {{{ $ rosrun point_cloud_converter point_cloud_converter points2_in:=/my_input_pointcloud2_topic points_out:=/my_output_pointcloud_topic [ INFO] [1272222413.891331026]: PointCloudConverter initialized to transform from PointCloud (/points_in) to PointCloud2 (/points2_out). [ INFO] [1272222413.891524710]: PointCloudConverter initialized to transform from PointCloud2 (/points2_in) to PointCloud (/points_out). }}} {{{ $ rosrun point_cloud_converter point_cloud_converter /points2_in:=my_input_pointcloud2_topic /points_out:=my_output_pointcloud_topic [ INFO] [1272222329.786616389]: PointCloudConverter initialized to transform from PointCloud (/points_in) to PointCloud2 (/points2_out). [ INFO] [1272222329.786817983]: PointCloudConverter initialized to transform from PointCloud2 (/my_input_pointcloud2_topic) to PointCloud (/my_output_pointcloud_topic). }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage