| 30 | |
| 31 | template <typename T> |
| 32 | sensor_msgs::PointCloud2 cloud2msg(pcl::PointCloud<T> cloud, std::string frame_id) { |
| 33 | sensor_msgs::PointCloud2 cloud_ROS; |
| 34 | pcl::toROSMsg(cloud, cloud_ROS); |
| 35 | cloud_ROS.header.frame_id = frame_id; |
| 36 | return cloud_ROS; |
| 37 | } |
| 38 | |
| 39 | void signal_callback_handler(int signum) { |
| 40 | cout << "Caught Ctrl + c " << endl; |