Re: Exporting images at a higher frequency than rtabmap slam frequency?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Exporting-images-at-a-higher-frequency-than-rtabmap-slam-frequency-tp10674p11139.html

An empty cloud could be published by changing this to:

}
else
{
  if(!isMoving)
  {
    clouds_.pop_back();
  }
  else
  {
    previousPose_ = pose;
  }
  sensor_msgs::msg::PointCloud2 rosCloud;
  rosCloud.header = cloudMsg->header;
  cloudPub_->publish(rosCloud);
}