Function cloudCallback

uav_simulator/map_generator/src/map_recorder.cpp:12–19

bool finish = false;

void cloudCallback(const sensor_msgs::PointCloud2& msg) {
  pcl::PointCloud<pcl::PointXYZ> cloud;
  pcl::fromROSMsg(msg, cloud);
  pcl::io::savePCDFileASCII("/home/boboyu/Downloads/tmp.pcd", cloud);

  cout << "map saved." << endl;
  finish = true;
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "map_recorder");