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Point Cloud Generator

Prerequisites

Clone and build pybullet_ros package

pybullet_ros

Clone and build pointcloud_interfaces package

pointcloud_interfaces

To Use

Source workspace

Run: 

ros2 launch pybullet_ros pointcloud_vision_example.launch.py

OR

Source workspace

Run PyBullet Simulation

Then Run: 

ros2 run pointcloud_proc_cpp gen_pointcloud --ros-args --remap image:=camera/depth/image_raw --remap camera_state:=camera/state --remap pointcloud:=camera/point_cloud --remap camera_params:=camera/params

Dependencies

  • rclcpp
  • sensor_msgs
  • cv_bridge
  • pointcloud_interfaces

To Install

  • Clone repository into workspace and build it
  • Source ROS workspace