/torso_front_camera/depth/color/points#

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/torso_front_camera/depth/color/points Quick Facts

Category

Robot hardware

Message type

sensor_msgs/PointCloud2

Direction

➡️ you normally subscribe to this topic.

Registered XYZRGB point cloud.

Quick snippets#

Check the publication rate#
$ rostopic hz /torso_front_camera/depth/color/points
Display the data published on the topic#
$ rostopic echo /torso_front_camera/depth/color/points

How to use in your code#

Subscribe to the topic using Python#
 1import rospy
 2from sensor_msgs.msg import PointCloud2
 3
 4def on_data(msg):
 5    # see http://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html
 6    # for the msg structure
 7    print(msg)
 8
 9if __name__ == "__main__":
10
11    rospy.init_node("subscriber")
12    rospy.Subscriber("/torso_front_camera/depth/color/points", PointCloud2, on_data)
13    rospy.spin()