42 lines
982 B
Plaintext
42 lines
982 B
Plaintext
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<launch>
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<arg name="gui" default="true" />
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<arg name="leaf_size" default="0.05" />
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<node name="pcd_to_pointcloud"
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pkg="pcl_ros" type="pcd_to_pointcloud"
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args="$(find pcl_ros)/samples/data/table_scene_lms400.pcd 0.033">
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<remap from="cloud_pcd" to="points" />
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</node>
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<node name="voxel_grid"
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pkg="nodelet" type="nodelet"
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args="standalone pcl/VoxelGrid">
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<remap from="~input" to="points" />
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<rosparam subst_value="true">
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filter_field_name: ''
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leaf_size: $(arg leaf_size)
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</rosparam>
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</node>
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<test test-name="test_voxel_grid"
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name="test_voxel_grid"
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pkg="rostest" type="hztest">
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<rosparam>
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topic: /voxel_grid/output
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hz: 20
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hzerror: 15
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test_duration: 5.0
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</rosparam>
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</test>
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<group if="$(arg gui)">
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<node name="rviz"
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pkg="rviz" type="rviz"
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args="-d $(find pcl_ros)/samples/config/voxel_grid.rviz">
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</node>
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</group>
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</launch>
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