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

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Dependencies

• rclcpp
• sensor_msgs
• cv_bridge
• pointcloud_interfaces

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To Install

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