How to use NodeData

Posted by FOG on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-NodeData-tp5444.html

Hi Mathieu,

I am trying to unterstand how to use mapData on ROS. As far as I know RTAB-Map adding 3D-Data (NodeData) on the graph (MapGraph). I want to use the latest added Pointcloud e.g. as sensor_msgs::Pointcloud2. But when I am subscribing to the lastest set of Points from wordPts (sensor_msgs::Pointcloud2), there are just a sparse set of (feature?)-points without header data.


How can I subscribe to the complete Pointcloud?


Many Thanks!
Florenz