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Running pointcloud_registration

Before you proceed, make sure you that you have gone through the ROS Parameters section of this package mentioned on the main page (http://www.ros.org/wiki/pointcloud_registration).

Step 1

Make sure you have point cloud data (msg format sensor_msgs::PointCloud) from the robot being published. Note the name of this topic and modify the subscribe_pointcloud_topic parameter in the pointcloud_registration.launch file accordingly.

Modify the other parameters in the launch file as required.

Step 2

Launch the pointcloud_registration node using the following command:

roslaunch pointcloud_registration pointcloud_registration.launch

Once launched, the node will subscribed to the published pointclouds and publish merged pointclouds on the topic /merged_pointcloud (default, if param not modified).

NOTE: For better registration make sure that the overlap between the pointclouds from the robot is maximum. The higher the overlap, the better the result.