| 71 | |
| 72 | template <typename T> |
| 73 | sensor_msgs::PointCloud2 cloud2msg(pcl::PointCloud<T> cloud) { |
| 74 | sensor_msgs::PointCloud2 cloud_ROS; |
| 75 | pcl::toROSMsg(cloud, cloud_ROS); |
| 76 | return cloud_ROS; |
| 77 | } |
| 78 | |
| 79 | void callbackNode(const sensor_msgs::PointCloud2::ConstPtr &msg) { |
| 80 | cout << msg->header.seq << "th node come" << endl; |