ucr-robotics / pointcloud2_normal_rviz_plugin

RViz plugin to display normal vectors of points in a point cloud, if available.

PointCloud2 Normal Rviz Plugin

RViz plugin to display normal vectors of points in a point cloud, if available.

Installation

Just place this ROS package under a ROS workspace, and run catkin_make install.

Usage

The default RViz plugin can display points in a point cloud of the type sensor_msgs::PointCloud2. This plugin can be used along with the default plugin to further display the normal vectors in 3D space.

It supports two styles of visualization for arrows (3D Arrow and 2D Arrow), as well as some common configurations (color, size, etc.)

pointcloud2_normal_rviz_plugin's Issues

How to build the sensor_msgs::PointCloud2 message required by the plugin?

I've tried to use pcl_conversion to convert pcl::pointcloudpcl::xyznormal into sensor_msgs::PointCloud2, but the rviz failed with segmentation fault. Could you give a example to show how to build the sensor_msgs::PointCloud2 message required by the plugin? Or how to convert a pcl pointcloud in to the required sensor_msgs::PointCloud2 message?