Hello, I was using RTABMAP and using this command to stream .pcd files in real time:
$ rosrun pcl_ros pointcloud_to_pcd input:=/ rtabmap/cloud_map
However it seems quite low resolution so i was wondering HOW i could change the cloud voxel size from 5cm to 1cm and voxel decimation to 1.
first terminal is used to launch and stream data from sensors (d455+t265)
second terminal is used to visualize data in rtabmap and map
third terminal is used for making the real time pcd files