Re: .PLY file output

Posted by matlabbe on Mar 12, 2021; 5:22am
URL: http://official-rtab-map-forum.206.s1.nabble.com/PLY-file-output-tp7642p7648.html


If you want the map's cloud, show cloud_map topic (PointCloud2 type) in rviz. You could then subscribe to that topic if you need to process the point cloud.

The points in cloud_map are in /map frame origin. Well for any point cloud topics, look at the frame_id in the header of the topic, then you will know in which frame the points are.

Show also TF in rviz if you didn't, it will show the frames used with turtlebot.