PointCloud2Publisher QML Type

Publishes sensor_msgs::msg::PointCloud2 messages — This message holds a collection of N-dimensional points, which may contain additional information such as normals, intensity, etc. The point data is stored as a binary blob, its layout described by the contents of the "fields" array. More...

• List of all members, including inherited members

Properties

• data : ArrayBuffer
• fields : list<pointField>
• header : header
• height : uint32_t
• isBigendian : bool
• isDense : bool
• pointStep : uint32_t
• rowStep : uint32_t
• width : uint32_t

Methods

• void publish(pointCloud2 msg)

Detailed Description

The point cloud data may be organized 2d (image-like) or 1d (unordered). Point clouds organized as 2d images may be produced by camera depth sensors such as stereo or time-of-flight.

PointCloud2Publisher publishes pointCloud2 values to a ROS 2 topic. Set the topic and node properties, then call publish() to send messages.

See also PointCloud2Subscriber and pointCloud2.

Property Documentation

data : ArrayBuffer

The data field value included in the next publish. Setting this property emits dataChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

fields : list<pointField>

The fields field value included in the next publish. Setting this property emits fieldsChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

header : header

The header field value included in the next publish. Setting this property emits headerChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

height : uint32_t

The height field value included in the next publish. Setting this property emits heightChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

isBigendian : bool

The isBigendian field value included in the next publish. Setting this property emits isBigendianChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

isDense : bool

The isDense field value included in the next publish. Setting this property emits isDenseChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

pointStep : uint32_t

The pointStep field value included in the next publish. Setting this property emits pointStepChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

rowStep : uint32_t

The rowStep field value included in the next publish. Setting this property emits rowStepChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

width : uint32_t

The width field value included in the next publish. Setting this property emits widthChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

Method Documentation

void publish(pointCloud2 msg)

Publishes pointCloud2 msg to the ROS 2 topic set by the topic property. Does nothing if the publisher is not connected.