Pointcloud merger

Package to combine 2 PointCloud2 in one with a target frame.

Parameters

• target_frame Frame to merge the 2 clouds. Default base_link
• cloud_out output topic name. Default cloud_out
• cloud1 input topic name. Default cloud1
• cloud2 input topic name. Default cloud2
• transform_tolerance TF tolerance. Default 1
• concurrency_level Nodelet thread support. Default 1

Features

• Nodelet support

Known Issues

Due to constant resize of PointCloud2, crash can occur. In that case,compile in debug mode '-DCMAKE_BUILD_TYPE=Debug', launch the debug launch file and create a merge request with test data (gdb knowledge required)

roslaunch pointcloud_merger sample_node_debug.launch

Example Gazebo Robot

roslaunch pointcloud_merger sample_node.launch