ROS nodes

Point Cloud IO

  • two nodes for reading and writing PointCloud2 from/to ply, pcd formats

point_cloud_assembler from laser_assembler

This node assembles a stream of sensor_msgs/PointCloud2 messages into larger point clouds. The aggregated point cloud can be accessed via a call to assemble_scans service.



Seems like a standard solution to convert point clouds to a map in several formats



This package provides interfaces and tools for bridging a running ROS system to the Point Cloud Library. These include ROS nodelets, nodes, and C++ interfaces.

It contains for example pointcloud_to_pcd, pcd_to_pointcloud, bag_to_pcd.