No version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
kilted

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version kilted
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
rolling

Package Summary

Tags No category tags.
Version 0.0.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version rolling
Last Updated 2025-05-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.3 (2025-05-21)

  • Fixed CI (#12)
  • Use target_link_libraries instead of ament_target_dependencies (#11)
  • Replaced deprecated rcpputils::path (#10)
  • Contributors: Alejandro Hernández Cordero

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

point_cloud_transport_tutorial package from point_cloud_transport_tutorial repo

point_cloud_transport_tutorial

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-perception/point_cloud_transport_tutorial.git
VCS Type git
VCS Version jazzy
Last Updated 2025-05-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tutorial for point_cloud_transport.

Additional Links

No additional links.

Maintainers

  • John D'Angelo

Authors

  • Jakub Paplham

<POINT CLOUD TRANSPORT TUTORIAL>

ROS2 v0.1.

Contents

Writing a Simple Publisher

In this section, we’ll see how to create a publisher node, which opens a ROS 2 bag and publishes PointCloud2 messages from it.

This tutorial assumes that you have created your workspace containing [](https://github.com/ros-perception/point_cloud_transport) and [](https://github.com/ros-perception/point_cloud_transport_plugins)

Before we start, change to the directory, clone this repository, and unzip the example rosbag in the resources folder:

$ cd ~/<point_cloud_transport_ws>/src
$ git clone https://github.com/ros-perception/point_cloud_transport_tutorial
$ cd point_cloud_transport_tutorial
$ tar -C resources/ -xvf resources/rosbag2_2023_08_05-16_08_51.tar.xz
$ cd ~/<point_cloud_transport_ws>
$ colcon build --merge-install --event-handlers console_direct+

Code of the Publisher

Take a look at my_publisher.cpp

#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/storage_options.hpp>
#include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");

  point_cloud_transport::PointCloudTransport pct(node);
  point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

  const std::string bagged_cloud_topic = "/point_cloud";
  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
    "point_cloud_transport_tutorial");
  const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

  // boiler-plate to tell rosbag2 how to read our bag
  rosbag2_storage::StorageOptions storage_options;
  storage_options.uri = bag_file;
  storage_options.storage_id = "mcap";
  rosbag2_cpp::ConverterOptions converter_options;
  converter_options.input_serialization_format = "cdr";
  converter_options.output_serialization_format = "cdr";

  // open the rosbag
  rosbag2_cpp::readers::SequentialReader reader;
  reader.open(storage_options, converter_options);

  sensor_msgs::msg::PointCloud2 cloud_msg;
  rclcpp::Serialization<sensor_msgs::msg::PointCloud2> cloud_serialization;
  while (reader.has_next() && rclcpp::ok()) {
    // get serialized data
    auto serialized_message = reader.read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*serialized_message->serialized_data);
    if (serialized_message->topic_name == bagged_cloud_topic) {
      // deserialize and convert to  message
      cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg);
      // publish the message
      pub.publish(cloud_msg);
      rclcpp::spin_some(node);
      rclcpp::sleep_for(std::chrono::milliseconds(100));
    }
  }
  reader.close();

  node.reset();
  rclcpp::shutdown();
}

Code of Publisher Explained

Now we’ll break down the code piece by piece.

Header for including [](https://github.com/ros-perception/point_cloud_transport):

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package point_cloud_transport_tutorial

0.0.2 (2023-03-19)

  • point_cloud_Transport_plugins is not a build dependency of this package (#9)
  • Added humble CI (#8)
  • Contributors: Alejandro Hernández Cordero, john-maidbot

0.0.1 (2023-10-09)

  • Added CI (#7)
  • Installed scripts, some minor fixes and warnings (#6)
  • ROS2 Port (#2) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
  • Report log messages from transport C API.
  • Added encoder/decoder tutorial.
  • Initial cleanup before releasing. No substantial changes made.
  • Contributors: Alejandro Hernández Cordero, john-maidbot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_transport_tutorial at Robotics Stack Exchange