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publish_pointcloud

this code can be used for transfom the pointcloud into octomap

使用方法

下载到ROS工作空间

cd catkin_ws/src

git clone https://github.com/RuPingCen/publish_pointcloud.git

cd ..

catkin_make

将文件夹data目录下的test.pcd文件放在catkin_ws目录下，并修改launch文件指定test.pcd存放的目录

启动转化节点

roslaunch publish_pointcloud demo.launch