PointCloudPublisher

About the module

PointcloudPublisher is used to publish site scans. This module supports pointclouds that have the file type .pcd. If you have a very large pointcloud, it is recommended to downsample it before inputting it into the module.

ROS parameters

The following ROS parameters can be set for PointcloudPublisher:

atos:
  pointcloud_publisher:
    ros__parameters:
      pointcloud_files: ["file1.pcd", "file2.pcd"]     # List of one or more pointcloud files to publish.