    * [ Product Support Forums ](/t5/Product-Support-Forums/ct-p/product-support-forums)
    * [ FPGA ](/t5/FPGA/ct-p/fpga)
    * [ Memory & Storage ](/t5/Memory-Storage/ct-p/memory-storage)
    * [ Visual Computing ](/t5/Visual-Computing/ct-p/visual-computing)
    * [ Embedded Products ](/t5/Embedded-Products/ct-p/embedded-products)
    * [ Graphics ](/t5/Graphics/bd-p/graphics)
    * [ Processors ](/t5/Processors/bd-p/processors)
    * [ Wireless ](/t5/Wireless/bd-p/wireless)
    * [ Ethernet Products ](/t5/Ethernet-Products/bd-p/ethernet-products)
    * [ Server Products ](/t5/Server-Products/bd-p/server-products)
    * [ Intel vPro® Platform ](/t5/Intel-vPro-Platform/bd-p/vpro-platform)
    * [ Intel® Unison™ App ](/t5/Intel-Unison-App/bd-p/unison-app)
    * [ Intel® QuickAssist Technology (Intel® QAT) ](/t5/Intel-QuickAssist-Technology/bd-p/IntelQuickAssistTechnology)
    * [ Intel® Trusted Execution Technology (Intel® TXT) ](/t5/Intel-Trusted-Execution/bd-p/trusted-execution-technology)
    * [ Intel® Enpirion® Power Solutions ](/t5/Intel-Enpirion-Power-Solutions/bd-p/enpirion-power-solutions)


##  5.3.1 (2022-04-26)


![](/assets/package.png) |


####  Additional Links


  * Overview
  * 0  Assets
  * 12  Dependencies
  * 0  Tutorials
  * 0  Q & A


  * updating quality declaration links (re: [ ros2/docs.ros2.org#52 ](https://github.com/ros2/docs.ros2.org/issues/52) ) ( [ #909 ](https://github.com/ros2/rcl/issues/909) )
  * Contributors: shonigmann


Name  |  Repo  |  Deps  |  [ rclc_lifecycle ](/p/rclc_lifecycle/github-
ros2-rclc#iron) |  [ github-ros2-rclc ](/r/rclc/github-ros2-rclc) |  [
](/p/rclc_lifecycle/github-ros2-rclc#iron-deps)
---|---|---
[ rclcpp_lifecycle ](/p/rclcpp_lifecycle/github-ros2-rclcpp#iron) |  [ github-
ros2-rclcpp ](/r/rclcpp/github-ros2-rclcpp) |  [ ](/p/rclcpp_lifecycle/github-
ros2-rclcpp#iron-deps)
[ rclpy ](/p/rclpy/github-ros2-rclpy#iron) |  [ github-ros2-rclpy
](/r/rclpy/github-ros2-rclpy) |  [ ](/p/rclpy/github-ros2-rclpy#iron-deps)
[ ros_core ](/p/ros_core/github-ros2-variants#iron) |  [ github-ros2-variants
](/r/variants/github-ros2-variants) |  [ ](/p/ros_core/github-
ros2-variants#iron-deps)

###  Launch files


Error still persist if trying to built it.


##  5.3.0 (2022-04-05)


###  Messages


##  0.7.6 (2019-08-01)


###  Source Tutorials


###  Dependant Packages


Failed to get question list, you can ticket an issue [ here
](https://github.com/ros-infrastructure/rosindex/issues/new)


##  0.7.4 (2019-05-29)


  * Updated use new error handling API from rcutils ( [ #314 ](https://github.com/ros2/rcl/issues/314) )
  * Deleted TRANSITION_SHUTDOWN ( [ #313 ](https://github.com/ros2/rcl/issues/313) )
  * Refactored lifecycle ( [ #298 ](https://github.com/ros2/rcl/issues/298) )
    * no static initialization of states anymore
    * make transition labels more descriptive
    * introduce labeled keys
    * define default transition keys
    * fix memory management
    * introduce service for transition graph
    * export transition keys
    * remove keys, transition id unique, label ambiguous
    * semicolon for macro call
  * Added macro semicolons ( [ #303 ](https://github.com/ros2/rcl/issues/303) )
  * Fixed naming of configure_error transition ( [ #292 ](https://github.com/ros2/rcl/issues/292) )
  * Removed use of uninitialized CMake var ( [ #268 ](https://github.com/ros2/rcl/issues/268) )
  * Fixed rosidl dependencies ( [ #265 ](https://github.com/ros2/rcl/issues/265) )
    * [rcl_lifecycle] remove rosidl deps as this package doesnt generate any messages
    * depend on rosidl_generator_c
  * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Mikael Arguedas, William Woodall


###  micro-ROS client


**Tags** |  _No category tags._
---|---
**Version** |  5.3.7
**License** |  Apache License 2.0
**Build type** |  AMENT_CMAKE
**Use** |  RECOMMENDED

###  Repository Summary


Features are described in detail at [ http://docs.ros2.org
](http://docs.ros2.org/latest/api/rcl_lifecycle/index.html)


##  0.8.4 (2020-01-17)


[ aa53  ](https://community.intel.com/t5/user/viewprofilepage/user-id/303011)


  * Install includes it include/\${PROJECT_NAME} ( [ #959 ](https://github.com/ros2/rcl/issues/959) )
  * Contributors: Shane Loretz


##  8.0.0 (2023-11-06)


##  4.0.0 (2021-09-16)


_No direct system dependencies._


[
](https://community.intel.com/t5/forums/v5/forumtopicpage.kudosbuttonv2.kudoentity:kudoentity/kudosable-
gid/1506721?t:ac=board-id/edge-software-hub/message-
id/1868/q-p/cHJvZmlsZS5sYW5ndWFnZTpmcg..&t:cp=kudos/contributions/tapletcontributionspage
"Cliquez ici pour faire des compliments sur cet envoi.")


  * [ S'abonner au fil RSS ](/cipcp26785/rss/message?board.id=edge-software-hub&message.id=1868)
  *   * Marquer le sujet comme nouveau
  * Marquer le sujet comme lu
  *   * Placer ce Sujet en tête de liste pour l'utilisateur actuel
  * Marquer
  * S'abonner
  *   * [ Page imprimable ](/t5/forums/forumtopicprintpage/board-id/edge-software-hub/message-id/1868/print-single-message/false/page/1)


  * Overview
  * 0  Assets
  * 10  Dependencies
  * 0  Tutorials
  * 0  Q & A


##  Quality Declaration


Hi,


For more information about lifecycle nodes, see: [
https://design.ros2.org/articles/node_lifecycle.html
](https://design.ros2.org/articles/node_lifecycle.html)


Copier le lien


1 497 Visites


README


* [ github-ros2-rcl ](/p/rcl_lifecycle/github-ros2-rcl)


###  Recent questions tagged ` rcl_lifecycle ` at **[ Robotics Stack Exchange
](https://robotics.stackexchange.com/) **


**Tags** |  _No category tags._
---|---
**Version** |  1.1.14
**License** |  Apache License 2.0
**Build type** |  AMENT_CMAKE
**Use** |  RECOMMENDED

###  Repository Summary


####  Package Summary


No version for distro **jade** . Known supported distros are highlighted in
the buttons above.


![](/assets/package.png) |


/// It contains the communication interfac with the ROS world
typedef struct rcl_lifecycle_com_interface_s
{
  /// Handle to the node used to create the publisher and the services
  rcl_node_t * node_handle;
  /// Event used to publish the transitions
  rcl_publisher_t pub_transition_event;
  /// Service that allows to trigger changes on the state
  rcl_service_t srv_change_state;
  /// Service that allows to get the current state
  rcl_service_t srv_get_state;
  /// Service that allows to get the available states
  rcl_service_t srv_get_available_states;
  /// Service that allows to get the available transitions
  rcl_service_t srv_get_available_transitions;
  /// Service that allows to get transitions from the graph
  rcl_service_t srv_get_transition_graph;
  /// Cached transition event message.
  lifecycle_msgs__msg__TransitionEvent msg;
} rcl_lifecycle_com_interface_t;


##  2.5.1 (2021-01-25)


##  2.5.2 (2021-02-05)


**Checkout URI** |  [ https://github.com/ros2/rcl.git
](https://github.com/ros2/rcl.git)
---|---
**VCS Type** |  git
**VCS Version** |  dashing
**Last Updated**

2021-05-21  |  **Dev Status** |  MAINTAINED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rcl/#dashing-contribute-lists-
help-wanted)
[ Good First Issues (  0  ) ](/r/rcl/#dashing-contribute-lists-good-first-
issue)
[ Pull Requests to Review (  0  ) ](/r/rcl/#dashing-contribute-lists-pull-
requests)

###  Package Description


_No additional links._


###  Source Tutorials


[ Why a Real-Time Operating System? ](/docs/concepts/rtos/) [ Comparison
between RTOSes ](/docs/concepts/rtos/comparison/)


_No direct system dependencies._


400 Discussions


##  5.4.0 (2022-04-29)


Opération réussie ! Abonnement ajouté.


     [ Crystal (EOL) ](../crystal/Releases.html)
In Development
     [ Rolling ](Releases.html)


##  0.6.3 (2018-12-13)


##  6.1.0 (2023-04-28)


#  Changelog for package rcl_lifecycle


####  Additional Links


[ Répondre ]()


Modérateur


Finally, it is possible to build and flash a micro-ROS app using:


  * Audrow Nash
  * Ivan Paunovic
  * William Woodall


###  [ rcl_lifecycle ](/p/rcl_lifecycle) package from [ rcl ](/r/rcl/github-
ros2-rcl) repo


#  rcl_lifecycle


_No message files found._


#ifdef __cplusplus
}
#endif


##  5.1.0 (2022-03-01)


Name  |  Repo  |  Deps  |  [ rclc_lifecycle ](/p/rclc_lifecycle/github-
ros2-rclc#foxy) |  [ github-ros2-rclc ](/r/rclc/github-ros2-rclc) |  [
](/p/rclc_lifecycle/github-ros2-rclc#foxy-deps)
---|---|---
[ rclcpp_lifecycle ](/p/rclcpp_lifecycle/github-ros2-rclcpp#foxy) |  [ github-
ros2-rclcpp ](/r/rclcpp/github-ros2-rclcpp) |  [ ](/p/rclcpp_lifecycle/github-
ros2-rclcpp#foxy-deps)
[ ros_core ](/p/ros_core/github-ros2-variants#foxy) |  [ github-ros2-variants
](/r/variants/github-ros2-variants) |  [ ](/p/ros_core/github-
ros2-variants#foxy-deps)

###  Launch files


You also mentioned that the package was successfully installed using
./edgesoftware install, is there a reason why you need to re-build the package
from source?


###  Messages


  * reset error message before setting a new one, embed the original one ( [ #501 ](https://github.com/ros2/rcl/issues/501) ) ( [ #505 ](https://github.com/ros2/rcl/issues/505) )
  * Contributors: Zachary Michaels


  * Use TRACETOOLS_ prefix for tracepoint-related macros ( [ #1058 ](https://github.com/ros2/rcl/issues/1058) )
  * Contributors: Christophe Bedard


CHANGELOG


  * Rename variable to fix name shadowing warning ( [ #929 ](https://github.com/ros2/rcl/issues/929) )
  * Contributors: Alberto Soragna


No questions yet, you can ask one [ here
](https://robotics.stackexchange.com/questions/tagged/rcl_lifecycle+ardent) .


![JesusE_Intel](/t5/image/serverpage/avatar-name/inteldigitalblue/avatar-
theme/candy/avatar-collection/Intel_Customer/avatar-display-
size/message/version/2?xdesc=1.0)


  * Marquer comme nouveau
  * Marquer
  * S'abonner
  * Sourdine
  *   * [ S'abonner au fil RSS ](https://community.intel.com/rss/message?board.id=edge-software-hub&message.id=1868)
  *   * [ Surligner ](/t5/Intel-Edge-Software-Hub/Error-running-docker-compose-tutorial-for-Edge-Insights-for/m-p/1505281/highlight/true#M1868)
  * [ Imprimer ](/t5/forums/forumtopicprintpage/board-id/edge-software-hub/message-id/1868/print-single-message/true/page/1)
  *   * [ Signaler un contenu inapproprié ](/t5/notifications/notifymoderatorpage/message-uid/1505281)


Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#dashing-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#dashing)
---|---|---
[ ](/p/rcl#dashing-deps) |  [ 1 ](/packages/rcl) |  [ rcl ](/p/rcl#dashing)
[ ](/p/rcutils#dashing-deps) |  [ 1 ](/packages/rcutils) |  [ rcutils
](/p/rcutils#dashing)
[ ](/p/rmw_implementation#dashing-deps) |  [ 1 ](/packages/rmw_implementation)
|  [ rmw_implementation ](/p/rmw_implementation#dashing)
[ ](/p/rosidl_generator_c#dashing-deps) |  [ 1 ](/packages/rosidl_generator_c)
|  [ rosidl_generator_c ](/p/rosidl_generator_c#dashing)
[ ](/p/ament_cmake_ros#dashing-deps) |  [ 1 ](/packages/ament_cmake_ros) |  [
ament_cmake_ros ](/p/ament_cmake_ros#dashing)
[ ](/p/ament_cmake_gtest#dashing-deps) |  [ 1 ](/packages/ament_cmake_gtest) |
[ ament_cmake_gtest ](/p/ament_cmake_gtest#dashing)
[ ](/p/ament_lint_common#dashing-deps) |  [ 1 ](/packages/ament_lint_common) |
[ ament_lint_common ](/p/ament_lint_common#dashing)
[ ](/p/ament_lint_auto#dashing-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#dashing)
[ ](/p/osrf_testing_tools_cpp#dashing-deps) |  [ 1
](/packages/osrf_testing_tools_cpp) |  [ osrf_testing_tools_cpp
](/p/osrf_testing_tools_cpp#dashing)

###  System Dependencies


1 339 Visites


#0 14.01 nav2_map_server: Cannot locate rosdep definition for [launch_testing]
#0 14.01 nav2_regulated_pure_pursuit_controller: Cannot locate rosdep
definition for [ament_lint_auto]
#0 14.01 dwb_plugins: Cannot locate rosdep definition for [ament_cmake_gtest]
#0 14.01 dwb_critics: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 nav2_gazebo_spawner: Cannot locate rosdep definition for
[ament_copyright]
#0 14.01 nav_2d_utils: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 navigation2: Cannot locate rosdep definition for [ament_cmake]
#0 14.01 nav2_rviz_plugins: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_common: Cannot locate rosdep definition for [rclpy]
#0 14.01 nav2_system_tests: Cannot locate rosdep definition for
[launch_testing]
#0 14.01 dwb_msgs: Cannot locate rosdep definition for
[rosidl_default_runtime]
#0 14.01 nav2_lifecycle_manager: Cannot locate rosdep definition for
[ament_lint_common]
#0 14.01 nav2_core: Cannot locate rosdep definition for [launch_testing]
#0 14.01 nav2_bt_navigator: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_dwb_controller: Cannot locate rosdep definition for
[ament_cmake]
#0 14.01 nav2_behavior_tree: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav_2d_msgs: Cannot locate rosdep definition for
[rosidl_default_generators]
#0 14.01 nav2_msgs: Cannot locate rosdep definition for [nav_msgs]
#0 14.01 nav2_voxel_grid: Cannot locate rosdep definition for
[ament_cmake_gtest]
#0 14.01 nav2_costmap_2d: Cannot locate rosdep definition for [launch_testing]
#0 14.01 nav2_util: Cannot locate rosdep definition for [action_msgs]
#0 14.01 nav2_controller: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 dwb_core: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 nav2_waypoint_follower: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_bringup: Cannot locate rosdep definition for [launch_testing]
#0 14.01 smac_planner: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 nav2_planner: Cannot locate rosdep definition for [ament_lint_auto]


Copier le lien


Modérateur


_No README found._ _[ See repository README. ](/r/rcl/github-
ros2-rcl/#eloquent) _


##  7.1.0 (2023-08-21)


_See[ ROS Wiki Tutorials ](http://wiki.ros.org/rcl_lifecycle/Tutorials) for
more details. _


  * Jacob Perron
  * Karsten Knese


**Tags** |  _No category tags._
---|---
**Version** |  0.8.5
**License** |  Apache License 2.0
**Build type** |  AMENT_CMAKE
**Use** |  RECOMMENDED

###  Repository Summary


###  Package Dependencies


##  6.2.0 (2023-06-07)


a community-maintained index of robotics software | [ privacy ](/privacy.txt)


Package containing a C-based lifecycle implementation


#ifndef RCL_LIFECYCLE__DATA_TYPES_H_
#define RCL_LIFECYCLE__DATA_TYPES_H_


##  Error running docker compose tutorial for
Edge_Insights_for_Autonomous_Mobile_Robots_2022.3.1


_No plugins found._


##  3.1.0 (2021-04-06)


ROS Resources: [ Documentation ](http://docs.ros.org/) | [ Support
](http://wiki.ros.org/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Service Status ](http://status.ros.org/) | [
ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/ros)
---

[ ROS Index ](/)


[ rcl ](/p/rcl/github-ros2-rcl) [ rcl_action ](/p/rcl_action/github-ros2-rcl)
rcl_lifecycle  [ rcl_yaml_param_parser ](/p/rcl_yaml_param_parser/github-
ros2-rcl)
---|---

github-ros2-rcl


_No message files found._


Options du sujet


Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#foxy-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#foxy)
---|---|---
[ ](/p/rcl#foxy-deps) |  [ 1 ](/packages/rcl) |  [ rcl ](/p/rcl#foxy)
[ ](/p/rcutils#foxy-deps) |  [ 1 ](/packages/rcutils) |  [ rcutils
](/p/rcutils#foxy)
[ ](/p/rmw#foxy-deps) |  [ 1 ](/packages/rmw) |  [ rmw ](/p/rmw#foxy)
[ ](/p/rosidl_runtime_c#foxy-deps) |  [ 1 ](/packages/rosidl_runtime_c) |  [
rosidl_runtime_c ](/p/rosidl_runtime_c#foxy)
[ ](/p/ament_cmake_ros#foxy-deps) |  [ 1 ](/packages/ament_cmake_ros) |  [
ament_cmake_ros ](/p/ament_cmake_ros#foxy)
[ ](/p/ament_cmake_gtest#foxy-deps) |  [ 1 ](/packages/ament_cmake_gtest) |  [
ament_cmake_gtest ](/p/ament_cmake_gtest#foxy)
[ ](/p/ament_lint_common#foxy-deps) |  [ 1 ](/packages/ament_lint_common) |  [
ament_lint_common ](/p/ament_lint_common#foxy)
[ ](/p/ament_lint_auto#foxy-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#foxy)
[ ](/p/osrf_testing_tools_cpp#foxy-deps) |  [ 1
](/packages/osrf_testing_tools_cpp) |  [ osrf_testing_tools_cpp
](/p/osrf_testing_tools_cpp#foxy)

###  System Dependencies


##  0.8.1 (2019-10-08)


_Not currently indexed._


  * Update build.ros2.org links ( [ #868 ](https://github.com/ros2/rcl/issues/868) )
  * Update QD to QL 1 ( [ #867 ](https://github.com/ros2/rcl/issues/867) )
  * Update QD ( [ #843 ](https://github.com/ros2/rcl/issues/843) )
  * Contributors: Alejandro Hern


  * reset error message before setting a new one, embed the original one ( [ #501 ](https://github.com/ros2/rcl/issues/501) )
  * Contributors: Dirk Thomas


#  Changelog for package rcl_lifecycle


  * Updated to use ament_target_dependencies where possible. ( [ #400 ](https://github.com/ros2/rcl/issues/400) )
  * Set symbol visibility to hidden for rcl. ( [ #391 ](https://github.com/ros2/rcl/issues/391) )
  * Contributors: Sachin Suresh Bhat, ivanpauno


If you need any additional information, please submit a new question as this
thread will no longer be monitored.


I am looking into this and will let you know when I have more information.


07-16-2023  06:56 PM


_No direct system dependencies._


#  rcl_lifecycle


##  3.1.0 (2021-04-06)


* [ github-ros2-rcl ](/p/rcl_lifecycle/github-ros2-rcl)


[ Jazzy Jalisco  ](Releases/Release-Jazzy-Jalisco.html)
|
May 2024
|
TBD
|
May 2029

##  Rolling Distribution  ï
[ ROS 2 Rolling Ridley  ](Releases/Release-Rolling-Ridley.html) is the rolling
development distribution of ROS 2. It is described in [ REP 2002
](https://www.ros.org/reps/rep-2002.html) and was first introduced in June
2020.
The Rolling distribution of ROS 2 serves two purposes:
  1. it is a staging area for future stable distributions of ROS 2, and
  2. it is a collection of the most recent development releases.
As the name implies, Rolling is continuously updated and **can have in-place
updates that include breaking changes** . We recommend that most people use
the most recent stable distribution instead (see  List of Distributions  ).
Packages released into the Rolling distribution will be automatically released
into future stable distributions of ROS 2. [ Releasing a ROS 2 package  ](How-
To-Guides/Releasing/Releasing-a-Package.html) into the Rolling distribution
follows the same procedures as all other ROS 2 distributions.
[ Previous ](Installation/DDS-Implementations/Working-with-eProsima-Fast-
DDS.html "eProsima Fast DDS") [ Next  ](Releases/Release-Iron-Irwini.html
"Iron Irwini \(iron\)")
* * *
© Copyright 2024, Open Robotics.
Built with [ Sphinx ](https://www.sphinx-doc.org/) using a [ theme
](https://github.com/readthedocs/sphinx_rtd_theme) provided by [ Read the Docs
](https://readthedocs.org) .
Other Versions  v: rolling
Releases
     [ Iron (latest) ](../iron/Releases.html)
     [ Humble ](../humble/Releases.html)
     [ Galactic (EOL) ](../galactic/Releases.html)
     [ Foxy (EOL) ](../foxy/Releases.html)
     [ Eloquent (EOL) ](../eloquent/Releases.html)
     [ Dashing (EOL) ](../dashing/Releases.html)


_No launch files found_


[ Répondre ]()


##  0.7.4 (2019-05-29)


For more information about lifecycle nodes, see: [
https://design.ros2.org/articles/node_lifecycle.html
](https://design.ros2.org/articles/node_lifecycle.html)


##  2.6.0 (2021-03-18)


###  Package Dependencies


##  0.6.1 (2018-12-07)


1 532 Visites


[ Résolu  Aller à la solution ](/t5/Intel-Edge-Software-Hub/Error-running-
docker-compose-tutorial-for-Edge-Insights-for/m-p/1506721#M1875)


humble  iron  rolling  noetic


###  Services


1 Solution


* [ Developer Software Forums ](/t5/Developer-Software-Forums/ct-p/developer-software-forums)


  * [rcl_lifecycle] Do not share transition event message between nodes ( [ #956 ](https://github.com/ros2/rcl/issues/956) )
  * Contributors: Ivan Santiago Paunovic


* Karsten Knese


#  Changelog for package rcl_lifecycle


Would you be able to provide all the log files under the following directory?


  * Overview
  * 0  Assets
  * 10  Dependencies
  * 0  Tutorials
  * 0  Q & A


_No additional links._


#ifdef __cplusplus
extern "C"
{
#endif


  * ©Intel Corporation
  * [ Terms of Use ](https://www.intel.com/content/www/us/en/legal/terms-of-use.html)
  * [ *Trademarks ](https://www.intel.com/content/www/us/en/legal/trademarks.html)
  * [ Cookies ](https://www.intel.com/content/www/us/en/privacy/intel-cookie-notice.html)
  * [ Privacy ](https://www.intel.com/content/www/us/en/privacy/intel-privacy-notice.html)
  * [ Supply Chain Transparency ](https://www.intel.com/content/www/us/en/policy/policy-human-trafficking-and-slavery.html)
  * [ Site Map ](https://www.intel.com/content/www/us/en/siteindex.html)


##  5.2.1 (2022-03-31)


Envoyer une réponse


_No plugins found._


This package claims to be in the **Quality Level 1** category, see the [
Quality Declaration
](https://github.com/ros2/rcl/tree/foxy/rcl_lifecycle/./QUALITY_DECLARATION.md)
for more details.


[
](https://community.intel.com/t5/forums/v5/forumtopicpage.kudosbuttonv2.kudoentity:kudoentity/kudosable-
gid/1512263?t:ac=board-id/edge-software-hub/message-
id/1868/q-p/cHJvZmlsZS5sYW5ndWFnZTpmcg..&t:cp=kudos/contributions/tapletcontributionspage
"Cliquez ici pour faire des compliments sur cet envoi.")


CHANGELOG


####  Package Summary


  * Update rcl to C++17. ( [ #1031 ](https://github.com/ros2/rcl/issues/1031) )
  * Contributors: Chris Lalancette


###  Package Dependencies


####  Additional Links


Sincerely,


  * make rcl_lifecycle_com_interface optional in lifecycle nodes ( [ #882 ](https://github.com/ros2/rcl/issues/882) )
  * Contributors: Karsten Knese


Name  |  Repo  |  Deps  |  [ rclc_lifecycle ](/p/rclc_lifecycle/github-
ros2-rclc#galactic) |  [ github-ros2-rclc ](/r/rclc/github-ros2-rclc) |  [
](/p/rclc_lifecycle/github-ros2-rclc#galactic-deps)
---|---|---
[ rclcpp_lifecycle ](/p/rclcpp_lifecycle/github-ros2-rclcpp#galactic) |  [
github-ros2-rclcpp ](/r/rclcpp/github-ros2-rclcpp) |  [
](/p/rclcpp_lifecycle/github-ros2-rclcpp#galactic-deps)
[ ros_core ](/p/ros_core/github-ros2-variants#galactic) |  [ github-
ros2-variants ](/r/variants/github-ros2-variants) |  [ ](/p/ros_core/github-
ros2-variants#galactic-deps)

###  Launch files


Copier le lien


##  0.6.3 (2018-12-13)


Name  |  Repo  |  Deps  |  [ rclcpp_lifecycle ](/p/rclcpp_lifecycle/github-
ros2-rclcpp#crystal) |  [ github-ros2-rclcpp ](/r/rclcpp/github-ros2-rclcpp) |
[ ](/p/rclcpp_lifecycle/github-ros2-rclcpp#crystal-deps)
---|---|---
[ ros_core ](/p/ros_core/github-ros2-variants#crystal) |  [ github-
ros2-variants ](/r/variants/github-ros2-variants) |  [ ](/p/ros_core/github-
ros2-variants#crystal-deps)

###  Launch files


#  rcl_lifecycle


##  5.0.1 (2022-01-14)


###  Wiki Tutorials


ERROR [nav2-pre 5/9] RUN chmod +x -R
/home/eiforamr/ros2_ws/install/its_planner 15.4s
\------
updated cache in /root/.ros/rosdep/sources.cache
rosdep install -i --from-path src/navigation2 --rosdistro foxy -y
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies


**Tags** |  _No category tags._
---|---
**Version** |  3.1.4
**License** |  Apache License 2.0
**Build type** |  AMENT_CMAKE
**Use** |  RECOMMENDED

###  Repository Summary


Features are described in detail at [ http://docs.ros2.org
](http://docs.ros2.org/latest/api/rcl_lifecycle/index.html)


##  5.2.0 (2022-03-24)


Failed to get question list, you can ticket an issue [ here
](https://github.com/ros-infrastructure/rosindex/issues/new)


---

[
API Docs ](http://docs.ros.org/en/rolling/p/rcl_lifecycle "View API
documentation on docs.ros.org") [
Browse Code ](https://github.com/ros2/rcl/tree/rolling/rcl_lifecycle "View
source code on repository")


_Not currently indexed._


##  2.6.0 (2021-03-18)


The **micro_ros_setup** tool allows compiling and generating images that
contain micro-ROS apps for the [ supported hardware
](/docs/overview/hardware/) boards and [ RTOSes ](/docs/concepts/rtos/) .


**Checkout URI** |  [ https://github.com/ros2/rcl.git
](https://github.com/ros2/rcl.git)
---|---
**VCS Type** |  git
**VCS Version** |  rolling
**Last Updated**

2024-04-16  |  **Dev Status** |  MAINTAINED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rcl/#rolling-contribute-lists-
help-wanted)
[ Good First Issues (  0  ) ](/r/rcl/#rolling-contribute-lists-good-first-
issue)
[ Pull Requests to Review (  0  ) ](/r/rcl/#rolling-contribute-lists-pull-
requests)

###  Package Description


##  5.4.0 (2022-04-29)


**Checkout URI** |  [ https://github.com/ros2/rcl.git
](https://github.com/ros2/rcl.git)
---|---
**VCS Type** |  git
**VCS Version** |  eloquent
**Last Updated**

2020-12-04  |  **Dev Status** |  MAINTAINED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rcl/#eloquent-contribute-lists-
help-wanted)
[ Good First Issues (  0  ) ](/r/rcl/#eloquent-contribute-lists-good-first-
issue)
[ Pull Requests to Review (  0  ) ](/r/rcl/#eloquent-contribute-lists-pull-
requests)

###  Package Description


_See[ ROS Wiki Tutorials ](http://wiki.ros.org/rcl_lifecycle/Tutorials) for
more details. _


###  Package Dependencies


  * Overview
  * 0  Assets
  * 10  Dependencies
  * 0  Tutorials
  * 0  Q & A


No questions yet, you can ask one [ here
](https://robotics.stackexchange.com/questions/tagged/rcl_lifecycle+galactic)
.


_No launch files found_


###  Plugins


  * Update QDs to QL 1 ( [ #866 ](https://github.com/ros2/rcl/issues/866) )
  * Update QL ( [ #858 ](https://github.com/ros2/rcl/issues/858) )
  * Make sure to always check return values ( [ #840 ](https://github.com/ros2/rcl/issues/840) )
  * Update tracetools QL and add to rcl_lifecycle\'s QD ( [ #845 ](https://github.com/ros2/rcl/issues/845) )
  * Add compiler warnings ( [ #830 ](https://github.com/ros2/rcl/issues/830) )
  * Contributors: Alejandro Hern


  * [ Intel Community ](/)
  *   * [ Developer Software Forums ](/t5/Developer-Software-Forums/ct-p/developer-software-forums)
  *   * [ Toolkits & SDKs ](/t5/Toolkits-SDKs/ct-p/toolkits-sdks)
  *   * [ Intel® Edge Software Hub ](/t5/Intel-Edge-Software-Hub/bd-p/edge-software-hub)
  *   * Re: Error running docker compose tutorial for Edge_Insights_for_Autonomous_Mobile_Robots_2022.3.1


  * Overview
  * 0  Assets
  * 11  Dependencies
  * 0  Tutorials
  * 0  Q & A


  * Install includes it include/\${PROJECT_NAME} ( [ #959 ](https://github.com/ros2/rcl/issues/959) )
  * Contributors: Shane Loretz


###  Messages


_No additional links._


_No plugins found._


###  Recent questions tagged ` rcl_lifecycle ` at **[ Robotics Stack Exchange
](https://robotics.stackexchange.com/) **


###  Dependant Packages


##  Quality Declaration


CHANGELOG


---

[
API Docs ](http://docs.ros.org/en/bouncy/p/rcl_lifecycle "View API
documentation on docs.ros.org") [
Browse Code ](https://github.com/ros2/rcl/tree/bouncy/rcl_lifecycle "View
source code on repository")


Sahira


Copier le lien


##  3.0.0 (2021-03-23)


_No README found._ _[ See repository README. ](/r/rcl/github-ros2-rcl/#ardent)
_


[ rcl_lifecycle/README.md
](https://github.com/ros2/rcl/tree/humble/rcl_lifecycle/README.md "Open in git
repository")


/// It contains various options to configure the rcl_lifecycle_state_machine_t instance
typedef struct rcl_lifecycle_state_machine_options_s
{
  /// Flag indicating whether the state machine shall be initialized with default states
  bool initialize_default_states;
  /// Flag indicating whether the com interface shall be used or not
  bool enable_com_interface;
  /// Allocator used for allocating states and transitions
  rcl_allocator_t allocator;
} rcl_lifecycle_state_machine_options_t;


/// It contains the transitions of the lifecycle state machine
typedef struct rcl_lifecycle_transition_s
{
  /// String with transition name: configuring, cleaningup, activating, deactivating,
  /// errorprocessing or shuttingdown.
  const char * label;
  /// Identifier of the transition
  unsigned int id;
  /// The value where the transition is initialized
  rcl_lifecycle_state_t * start;
  /// The objetive of the transition
  rcl_lifecycle_state_t * goal;
} rcl_lifecycle_transition_t;


####  Maintainers


  * [rolling] Update maintainers - 2022-11-07 ( [ #1017 ](https://github.com/ros2/rcl/issues/1017) )
  * Contributors: Audrow Nash


_No message files found._


####  Middleware


  * [rcl_lifecycle] Do not share transition event message between nodes ( [ #956 ](https://github.com/ros2/rcl/issues/956) )
  * Contributors: Ivan Santiago Paunovic


typedef struct rcl_lifecycle_transition_s rcl_lifecycle_transition_t;


Pour obtenir des informations plus complètes sur l'optimisation des
compilateurs, voir notre [ Avis d'optimisation
](https://software.intel.com/content/www/us/en/develop/support/legal-
disclaimers-and-optimization-notices.html) .


    * [ Developer Software Forums ](/t5/Developer-Software-Forums/ct-p/developer-software-forums)
    * [ Software Development Tools ](/t5/Software-Development-Tools/ct-p/software-dev-tools)
    * [ Toolkits & SDKs ](/t5/Toolkits-SDKs/ct-p/toolkits-sdks)
    * [ Software Development Topics ](/t5/Software-Development-Topics/ct-p/software-dev-topics)
    * [ Software Development Technologies ](/t5/Software-Development/ct-p/software-dev-technologies)
    * [ Intel® DevCloud ](/t5/Intel-DevCloud/bd-p/devcloud)
    * [ oneAPI Registration, Download, Licensing and Installation ](/t5/oneAPI-Registration-Download/bd-p/registration-download-licensing-instal)
    * [ GPU Compute Software ](/t5/GPU-Compute-Software/bd-p/gpu-compute-software)
    * [ Intel® Developer Cloud ](/t5/Intel-Developer-Cloud/bd-p/developer-cloud)
    * [ Edge Developer Toolbox ](/t5/Edge-Developer-Toolbox/bd-p/EdgeDeveloperToolbox)
    * [ Software Archive ](/t5/Software-Archive/bd-p/software-archive)


It is possible to obtain a list of the supported hardware by running the
command without any argument. By doing so, it is possible to see that along
with the RTOSes and hardware supported by micro-ROS this build system also
provides with three extra options:


For more information about lifecycle nodes, see: [
https://design.ros2.org/articles/node_lifecycle.html
](https://design.ros2.org/articles/node_lifecycle.html)


##  6.0.3 (2023-09-08)


![Sahira_Intel](/t5/image/serverpage/avatar-name/intelcharcoal/avatar-
theme/candy/avatar-collection/Intel_Customer/avatar-display-
size/message/version/2?xdesc=1.0)


No questions yet, you can ask one [ here
](https://robotics.stackexchange.com/questions/tagged/rcl_lifecycle+rolling) .


  * Update QDs to QL 1 ( [ #866 ](https://github.com/ros2/rcl/issues/866) )
  * Update QL ( [ #858 ](https://github.com/ros2/rcl/issues/858) )
  * Make sure to always check return values ( [ #840 ](https://github.com/ros2/rcl/issues/840) )
  * Update tracetools QL and add to rcl_lifecycle\'s QD ( [ #845 ](https://github.com/ros2/rcl/issues/845) )
  * Add compiler warnings ( [ #830 ](https://github.com/ros2/rcl/issues/830) )
  * Contributors: Alejandro Hern


_No launch files found_


  * Rmw preallocate ( [ #428 ](https://github.com/ros2/rcl/issues/428) )
  * Contributors: Michael Carroll


  * Update maintainers to Ivan Paunovic and William Woodall ( [ #952 ](https://github.com/ros2/rcl/issues/952) )
  * Fix up documentation build for rcl_lifecycle when using rosdoc2 ( [ #938 ](https://github.com/ros2/rcl/issues/938) )
  * Contributors: Audrow Nash, Michel Hidalgo


###  Wiki Tutorials


##  Quality Declaration


##  2.5.0 (2020-12-08)


Failed to get question list, you can ticket an issue [ here
](https://github.com/ros-infrastructure/rosindex/issues/new)


#  Changelog for package rcl_lifecycle


##  0.5.0 (2018-06-25)


CHANGELOG


// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.


###  Dependant Packages


* Karsten Knese


` rcl_lifecycle ` provides functionality for ROS 2 lifecycle nodes in C.


####  Maintainers


_No plugins found._


##  5.2.0 (2022-03-24)


##  0.6.4 (2019-01-11)


##  0.7.9 (2020-07-10)


_See[ ROS Wiki Tutorials ](http://wiki.ros.org/rcl_lifecycle/Tutorials) for
more details. _


####  Additional Links


###  Wiki Tutorials


  * Marquer comme nouveau
  * Marquer
  * S'abonner
  * Sourdine
  *   * [ S'abonner au fil RSS ](https://community.intel.com/rss/message?board.id=edge-software-hub&message.id=1875)
  *   * [ Surligner ](/t5/Intel-Edge-Software-Hub/Error-running-docker-compose-tutorial-for-Edge-Insights-for/m-p/1506721/highlight/true#M1875)
  * [ Imprimer ](/t5/forums/forumtopicprintpage/board-id/edge-software-hub/message-id/1875/print-single-message/true/page/1)
  *   * [ Signaler un contenu inapproprié ](/t5/notifications/notifymoderatorpage/message-uid/1506721)


_No direct system dependencies._


##  7.2.0 (2023-10-04)


We would like to use third party cookies and scripts to improve the
functionality of this website.  Approve  [ More info ](/privacy)


###  Package Dependencies


[ rcl_lifecycle/README.md
](https://github.com/ros2/rcl/tree/iron/rcl_lifecycle/README.md "Open in git
repository")


####  Package Summary


####  Benchmarking


##  4.0.0 (2021-09-16)


##  0.5.0 (2018-06-25)


_No service files found_


* [ github-ros2-rcl ](/p/rcl_lifecycle/github-ros2-rcl)


###  Source Tutorials


Jesus


      * [ ROS Build Farms ](The-ROS2-Project/Contributing/Build-Farms.html)
      * [ Windows Tips and Tricks ](The-ROS2-Project/Contributing/Windows-Tips-and-Tricks.html)
      * [ Contributing to ROS 2 Documentation ](The-ROS2-Project/Contributing/Contributing-To-ROS-2-Documentation.html)
    * [ Features Status ](The-ROS2-Project/Features.html)
    * [ Feature Ideas ](The-ROS2-Project/Feature-Ideas.html)
    * [ Roadmap ](The-ROS2-Project/Roadmap.html)
    * [ ROSCon Talks ](The-ROS2-Project/ROSCon-Content.html)
    * [ Project Governance ](The-ROS2-Project/Governance.html)
      * [ ROS 2 Technical Steering Committee Charter ](The-ROS2-Project/Governance/ROS2-TSC-Charter.html)
      * [ ROS 2 TSC applicant intake process ](The-ROS2-Project/Governance/ROS2-TSC-Intake-process.html)
      * [ About Working Groups ](The-ROS2-Project/Governance/Working-Groups.html)
      * [ How to Start a Community Working Group ](The-ROS2-Project/Governance/How-To-Start-A-Community-Working-Group.html)
    * [ Marketing ](The-ROS2-Project/Marketing.html)
    * [ Metrics ](The-ROS2-Project/Metrics.html)
  * [ API Documentation ](API-Docs.html)
  * [ Related Projects ](Related-Projects.html)
    * [ Intel ROS 2 Projects ](Related-Projects/Intel-ROS2-Projects.html)
    * [ NVIDIA ROS 2 Projects ](Related-Projects/Nvidia-ROS2-Projects.html)
  * [ Glossary ](Glossary.html)
  * [ Citations ](Citations.html)
__ [ ROS 2 Documentation: Rolling ](index.html)
  * [ ](index.html)
  * Distributions
  * [ Edit on GitHub ](https://github.com/ros2/ros2_documentation/blob/rolling/source/Releases.rst)
* * *
**You're reading the documentation for a development version. For the latest
released version, please have a look at[ Iron ](../iron/Releases.html) . **
#  Distributions  ï
##  What is a Distribution?  ï
A ROS distribution is a versioned set of ROS packages. These are akin to Linux
distributions (e.g. Ubuntu). The purpose of the ROS distributions is to let
developers work against a relatively stable codebase until they are ready to
roll everything forward. Therefore once a distribution is released, we try to
limit changes to bug fixes and non-breaking improvements for the core packages
(every thing under ros-desktop-full). That generally applies to the whole
community, but for âhigherâ level packages, the rules are less strict, and
so it falls to the maintainers of a given package to avoid breaking changes.


###  Dependant Packages


**Checkout URI** |  [ https://github.com/ros2/rcl.git
](https://github.com/ros2/rcl.git)
---|---
**VCS Type** |  git
**VCS Version** |  bouncy
**Last Updated**

2018-07-17  |  **Dev Status** |  MAINTAINED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rcl/#bouncy-contribute-lists-
help-wanted)
[ Good First Issues (  0  ) ](/r/rcl/#bouncy-contribute-lists-good-first-
issue)
[ Pull Requests to Review (  0  ) ](/r/rcl/#bouncy-contribute-lists-pull-
requests)

###  Package Description


####  Additional Links


###  Messages


**Tags** |  _No category tags._
---|---
**Version** |  0.5.1
**License** |  Apache License 2.0
**Build type** |  AMENT_CMAKE
**Use** |  RECOMMENDED

###  Repository Summary


Name  |  Repo  |  Deps  |  [ rclc_lifecycle ](/p/rclc_lifecycle/github-
ros2-rclc#dashing) |  [ github-ros2-rclc ](/r/rclc/github-ros2-rclc) |  [
](/p/rclc_lifecycle/github-ros2-rclc#dashing-deps)
---|---|---
[ rclcpp_lifecycle ](/p/rclcpp_lifecycle/github-ros2-rclcpp#dashing) |  [
github-ros2-rclcpp ](/r/rclcpp/github-ros2-rclcpp) |  [
](/p/rclcpp_lifecycle/github-ros2-rclcpp#dashing-deps)
[ ros_core ](/p/ros_core/github-ros2-variants#dashing) |  [ github-
ros2-variants ](/r/variants/github-ros2-variants) |  [ ](/p/ros_core/github-
ros2-variants#dashing-deps)

###  Launch files


[ ](https://www.intel.com/content/www/us/en/homepage.html "Logo - Intel")
Search


##  7.0.0 (2023-07-11)


##  0.6.2 (2018-12-13)


####  Authors


###  Package Dependencies


##  6.0.4 (2023-11-17)


##  9.2.1 (2024-04-16)


4 Réponses


##  9.1.0 (2024-01-24)


  * [ pr2_navigation_perce... ](/pr2_navigation_perception?distro=indigo)
  * [ pr2_navigation_self_... ](/pr2_navigation_self_filter?distro=indigo)
  * [ rail_recognition ](/rail_recognition?distro=indigo)
  * [ rail_segmentation ](/rail_segmentation?distro=indigo)
  * [ rb_tracker ](/rb_tracker?distro=indigo)
  * [ rc_cloud_accumulator... ](/rc_cloud_accumulator?distro=indigo)
  * [ realsense_camera ](/realsense_camera?distro=indigo)
  * [ rgbdslam ](/rgbdslam?distro=indigo)
  * [ ric_gazebo ](/ric_gazebo?distro=indigo)
  * [ robotican_common ](/robotican_common?distro=indigo)
  * [ robotican_demos ](/robotican_demos?distro=indigo)
  * [ robotican_gui ](/robotican_gui?distro=indigo)
  * [ rtabmap_ros ](/rtabmap_ros?distro=indigo)
  * [ safety_limiter ](/safety_limiter?distro=indigo)
  * [ scan_to_cloud_conver... ](/scan_to_cloud_converter?distro=indigo)
  * [ segbot_sensors ](/segbot_sensors?distro=indigo)
  * [ semantic_point_annot... ](/semantic_point_annotator?distro=indigo)
  * [ sentis_tof_m100 ](/sentis_tof_m100?distro=indigo)
  * [ shape_reconstruction... ](/shape_reconstruction?distro=indigo)
  * [ shape_tracker ](/shape_tracker?distro=indigo)
  * [ sick_ldmrs_tools ](/sick_ldmrs_tools?distro=indigo)
  * [ sick_scan ](/sick_scan?distro=indigo)
  * [ simple_grasping ](/simple_grasping?distro=indigo)
  * [ slam6d_exporter ](/slam6d_exporter?distro=indigo)
  * [ softkinetic_camera ](/softkinetic_camera?distro=indigo)
  * [ spin_hokuyo ](/spin_hokuyo?distro=indigo)
  * [ stereo_slam ](/stereo_slam?distro=indigo)
  * [ tinkerforge_laser_tr... ](/tinkerforge_laser_transform?distro=indigo)
  * [ turtlebot_arm_block_... ](/turtlebot_arm_block_manipulation?distro=indigo)
  * [ turtlebot_arm_kinect... ](/turtlebot_arm_kinect_calibration?distro=indigo)
  * [ turtlebot_exploratio... ](/turtlebot_exploration_3d?distro=indigo)
  * [ velodyne_height_map ](/velodyne_height_map?distro=indigo)
  * [ viso2_ros ](/viso2_ros?distro=indigo)


Search MathWorks.com


[ models/  pointcloud2gazebo
](/CyberAgentAILab/pointcloud2gazebo/tree/main/models/pointcloud2gazebo "This
path skips through empty directories")


  Publishing point clouds

You may publish PCL point clouds using the standard ` ros::Publisher ` :

       1


[ launch_container.sh
](/CyberAgentAILab/pointcloud2gazebo/blob/main/launch_container.sh
"launch_container.sh")


###  Watchers


[ Remapping topics in gazebo, not working? ](/question/50931/remapping-topics-
in-gazebo-not-working/)


Parameter  |  Description  |  Type  |  Unit
---|---|---|---
Crop.min_z  |  Minimum height of points to create Gazebo world.  |  float  |
meter
Crop.max_z  |  Maximum height of points to create Gazebo world.  |  float  |
meter
NoiseRemoval.nb_points  |  Number of points within the radius. Refer to [
open3d.geometry.PointCloud.remove_radius_outlier
](http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.remove_radius_outlier)
.  |  int  |  \-
NoiseRemoval.radius  |  Radius of the sphere. Refer to [
open3d.geometry.PointCloud.remove_radius_outlier
](http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.remove_radius_outlier)
.  |  float  |  meter
VoxelDownSample.voxel_size  |  Voxel size to downsample into. Refer to [
open3d.geometry.PointCloud.voxel_down_sample
](http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.voxel_down_sample)
.  |  float  |  meter
TriangleMesh.alpha  |  Parameter to control the shape. A large value will
yield a shape close to the convex hull. Refer to [
open3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape
](http://www.open3d.org/docs/release/python_api/open3d.geometry.TriangleMesh.html#open3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape)
.  |  float  |  \-

The sample data ( [ data/cloud.ply
](/CyberAgentAILab/pointcloud2gazebo/blob/main/data/cloud.ply) ) was generated
using [ RTAB-Map ](https://apps.apple.com/td/app/rtab-map-3d-lidar-
scanner/id1564774365) . The following parameters were set for this data:


[ images ](/CyberAgentAILab/pointcloud2gazebo/tree/main/images "images")


[ ](/CyberAgentAILab/pointcloud2gazebo/branches) [
](/CyberAgentAILab/pointcloud2gazebo/tags)


[ NotARobot ](/users/69326/notarobot/)
109  ●  12  ●  18  ●  26


  Example

Read messages from the ` /laser_tilt_cloud ` topic in ` data.bag ` , saving a
PCD file for each message into the ` ./pointclouds ` subdirectory.

     $ rosrun pcl_ros bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds


BSD-3-Clause license


    * [ Learning Pathways  ](https://resources.github.com/learn/pathways/)
    * [ White papers, Ebooks, Webinars  ](https://resources.github.com/)
    * [ Customer Stories ](/customer-stories)
    * [ Partners  ](https://partner.github.com/)


##  Question Tools


So, the workspace is shown above.


  * [ laser_filters ](/laser_filters?distro=groovy)
  * [ loam_backAndForth ](/loam_backAndForth?distro=groovy)
  * [ loam_back_and_forth ](/loam_back_and_forth?distro=groovy)
  * [ loam_continuous ](/loam_continuous?distro=groovy)
  * [ megatree_pcl ](/megatree_pcl?distro=groovy)
  * [ moveit_ros_perceptio... ](/moveit_ros_perception?distro=groovy)
  * [ moveit_source_build_... ](/moveit_source_build_deps?distro=groovy)
  * [ navfn ](/navfn?distro=groovy)
  * [ ndt_map ](/ndt_map?distro=groovy)
  * [ ndt_map_builder ](/ndt_map_builder?distro=groovy)
  * [ ndt_registration ](/ndt_registration?distro=groovy)
  * [ ndt_visualisation ](/ndt_visualisation?distro=groovy)
  * [ next_best_view ](/next_best_view?distro=groovy)
  * [ object_manipulation_... ](/object_manipulation_tools?distro=groovy)
  * [ octomap_ros ](/octomap_ros?distro=groovy)
  * [ octomap_server ](/octomap_server?distro=groovy)
  * [ pcl_cloud_algos ](/pcl_cloud_algos?distro=groovy)
  * [ pcl_cloud_tools ](/pcl_cloud_tools?distro=groovy)
  * [ pcl_filter ](/pcl_filter?distro=groovy)
  * [ pcl_to_scan ](/pcl_to_scan?distro=groovy)
  * [ perception_pcl ](/perception_pcl?distro=groovy)
  * [ perception_tools ](/perception_tools?distro=groovy)
  * [ planning_environment... ](/planning_environment?distro=groovy)
  * [ pointcloud_registrat... ](/pointcloud_registration?distro=groovy)
  * [ pointcloud_to_lasers... ](/pointcloud_to_laserscan?distro=groovy)
  * [ pointcloud_tools ](/pointcloud_tools?distro=groovy)
  * [ pointcloud_vrml ](/pointcloud_vrml?distro=groovy)
  * [ pr2_data_acquisition... ](/pr2_data_acquisition_tools?distro=groovy)
  * [ pr2_grasp_adjust ](/pr2_grasp_adjust?distro=groovy)
  * [ pr2_led_kinect_calib... ](/pr2_led_kinect_calib?distro=groovy)
  * [ pr2_navigation_perce... ](/pr2_navigation_perception?distro=groovy)
  * [ pr2_navigation_self_... ](/pr2_navigation_self_filter?distro=groovy)
  * [ pr2_tilt_laser_inter... ](/pr2_tilt_laser_interface?distro=groovy)
  * [ rgbd_assembler ](/rgbd_assembler?distro=groovy)
  * [ segbot_sensors ](/segbot_sensors?distro=groovy)
  * [ semantic_point_annot... ](/semantic_point_annotator?distro=groovy)
  * [ sentis_tof_m100 ](/sentis_tof_m100?distro=groovy)
  * [ simulator_art ](/simulator_art?distro=groovy)
  * [ slam_exporter ](/slam_exporter?distro=groovy)
  * [ srs_env_model ](/srs_env_model?distro=groovy)


VoxelGrid)


First time here? Check out the FAQ!


Then, open the pcl_velodyne_ws workspace with CLion or any C++ IDE. _(CLion is
an IDE for C and C++ by JetBrains. To installation: “sudo snap install clion —
classic”)_


  Overview

This package provides interfaces and tools for bridging a running ROS system
to the Point Cloud Library. These include ROS nodelets, nodes, and C++
interfaces.


Resources


Name  |  Name  |


(more)


* [ Pick-and-Place Workflow Using Stateflow for MATLAB ](pick-and-place-workflow-using-stateflow.html)


[ ](/CyberAgentAILab/pointcloud2gazebo/commits/main/)

###


* [ Pick-and-Place Workflow in Gazebo Using ROS ](pick-and-place-workflow-in-gazebo-using-ros.html)


  Package Summary

Released

Continuous Integration

Documented

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge
for 3D applications involving n-D Point Clouds and 3D geometry processing in
ROS.

  * Maintainer: Julius Kammerl <jkammerl AT willowgarage DOT com>
  * Author: Open Perception
  * License: BSD
  * Source: git [ https://github.com/ros-perception/perception_pcl.git ](https://github.com/ros-perception/perception_pcl) (branch: groovy-devel)

_**[ perception_pcl ](/perception_pcl?distro=hydro) ** : [ pcl_conversions
](/pcl_conversions?distro=hydro) | [ pcl_msgs ](/pcl_msgs?distro=hydro) |
pcl_ros | [ pointcloud_to_laserscan ](/pointcloud_to_laserscan?distro=hydro) _

**Package Links**

  * **[ Code API ](http://docs.ros.org/hydro/api/pcl_ros/html) **
  * **[ Msg API ](http://docs.ros.org/en/hydro/api/pcl_ros/html/index-msg.html) **
  * [ Tutorials ](/pcl_ros/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:pcl_ros/page:1/)
  * [ Changelog ](http://docs.ros.org/en/hydro/changelogs/pcl_ros/changelog.html)
  * [ Change List ](/perception_pcl/ChangeList)
  * [ Reviews ](/pcl_ros/Reviews)

** Dependencies  (16) **

  * [ catkin ](/catkin?distro=hydro)
  * [ dynamic_reconfigure ](/dynamic_reconfigure?distro=hydro)
  * [ eigen ](/eigen?distro=hydro)
  * [ libpcl-all ](/libpcl-all?distro=hydro)
  * [ libpcl-all-dev ](/libpcl-all-dev?distro=hydro)
  * [ message_filters ](/message_filters?distro=hydro)
  * [ nodelet ](/nodelet?distro=hydro)


  pcd_to_pointcloud

Loads a PCD file, publishing it one or more times as a ROS point cloud
message.


###  Robot Simulation and Control in Gazebo


When we list the ros topics, we can see /velodyne_points and /velodyne_points2
topics as above. One of them belong to VLP-16 and the other one to HDL-32E.


* **Robotics System Toolbox™** is used to model and simulate the manipulator.


  * [ nodelet_topic_tools ](/nodelet_topic_tools?distro=jade)
  * [ pcl_conversions ](/pcl_conversions?distro=jade)
  * [ pcl_msgs ](/pcl_msgs?distro=jade)
  * [ pluginlib ](/pluginlib?distro=jade)
  * [ rosbag ](/rosbag?distro=jade)
  * [ rosconsole ](/rosconsole?distro=jade)
  * [ roscpp ](/roscpp?distro=jade)
  * [ roslib ](/roslib?distro=jade)
  * [ sensor_msgs ](/sensor_msgs?distro=jade)
  * [ std_msgs ](/std_msgs?distro=jade)
  * [ tf ](/tf?distro=jade)

** Used by  (26) **

  * [ ar_track_alvar ](/ar_track_alvar?distro=jade)
  * [ base_local_planner ](/base_local_planner?distro=jade)
  * [ bta_ros ](/bta_ros?distro=jade)
  * [ costmap_2d ](/costmap_2d?distro=jade)
  * [ depthcloud_encoder ](/depthcloud_encoder?distro=jade)
  * [ find_object_2d ](/find_object_2d?distro=jade)
  * [ head_pose_estimation... ](/head_pose_estimation?distro=jade)
  * [ hector_barrel_detect... ](/hector_barrel_detection?distro=jade)
  * [ hector_barrel_detect... ](/hector_barrel_detection_nodelet?distro=jade)
  * [ hector_barrel_geotif... ](/hector_barrel_geotiff_plugin?distro=jade)
  * [ hector_costmap ](/hector_costmap?distro=jade)
  * [ hector_elevation_map... ](/hector_elevation_mapping?distro=jade)
  * [ jsk_pcl_ros ](/jsk_pcl_ros?distro=jade)
  * [ jsk_pcl_ros_utils ](/jsk_pcl_ros_utils?distro=jade)
  * [ jsk_perception ](/jsk_perception?distro=jade)
  * [ jsk_recognition_util... ](/jsk_recognition_utils?distro=jade)
  * [ laser_ortho_projecto... ](/laser_ortho_projector?distro=jade)
  * [ laser_scan_matcher ](/laser_scan_matcher?distro=jade)
  * [ navfn ](/navfn?distro=jade)
  * [ octomap_server ](/octomap_server?distro=jade)
  * [ perception_pcl ](/perception_pcl?distro=jade)
  * [ rail_recognition ](/rail_recognition?distro=jade)
  * [ rail_segmentation ](/rail_segmentation?distro=jade)
  * [ rtabmap_ros ](/rtabmap_ros?distro=jade)
  * [ scan_to_cloud_conver... ](/scan_to_cloud_converter?distro=jade)
  * [ stereo_slam ](/stereo_slam?distro=jade)


Select the China site (in Chinese or English) for best site performance. Other
MathWorks country sites are not optimized for visits from your location.


[ ![NotARobot gravatar image](/m/default/media/images/nophoto.png?v=28)
](/users/69326/notarobot/)


include <pcl/point_types.h>
       4


[ .gitignore ](/CyberAgentAILab/pointcloud2gazebo/blob/main/.gitignore
".gitignore")


  * [ ifm_o3mxxx ](/ifm_o3mxxx?distro=kinetic)
  * [ image_view2 ](/image_view2?distro=kinetic)
  * [ ira_laser_tools ](/ira_laser_tools?distro=kinetic)
  * [ joint_tracker ](/joint_tracker?distro=kinetic)
  * [ jsk_footstep_planner... ](/jsk_footstep_planner?distro=kinetic)
  * [ jsk_pcl_ros ](/jsk_pcl_ros?distro=kinetic)
  * [ jsk_pcl_ros_utils ](/jsk_pcl_ros_utils?distro=kinetic)
  * [ jsk_perception ](/jsk_perception?distro=kinetic)
  * [ jsk_recognition_util... ](/jsk_recognition_utils?distro=kinetic)
  * [ laser_ortho_projecto... ](/laser_ortho_projector?distro=kinetic)
  * [ laser_scan_matcher ](/laser_scan_matcher?distro=kinetic)
  * [ lidar_camera_calibra... ](/lidar_camera_calibration?distro=kinetic)
  * [ mcl_3dl ](/mcl_3dl?distro=kinetic)
  * [ moveit_tutorials ](/moveit_tutorials?distro=kinetic)
  * [ multi_object_trackin... ](/multi_object_tracking_lidar?distro=kinetic)
  * [ navfn ](/navfn?distro=kinetic)
  * [ nonpersistent_voxel_... ](/nonpersistent_voxel_layer?distro=kinetic)
  * [ o3m151_driver ](/o3m151_driver?distro=kinetic)
  * [ octomap_pa ](/octomap_pa?distro=kinetic)
  * [ octomap_server ](/octomap_server?distro=kinetic)
  * [ oculusprime ](/oculusprime?distro=kinetic)
  * [ omip_common ](/omip_common?distro=kinetic)
  * [ ouster_driver ](/ouster_driver?distro=kinetic)
  * [ pcdfilter_pa ](/pcdfilter_pa?distro=kinetic)
  * [ perception_pcl ](/perception_pcl?distro=kinetic)
  * [ pr2_navigation_perce... ](/pr2_navigation_perception?distro=kinetic)
  * [ pr2_navigation_self_... ](/pr2_navigation_self_filter?distro=kinetic)
  * [ pr2_tilt_laser_inter... ](/pr2_tilt_laser_interface?distro=kinetic)
  * [ rail_segmentation ](/rail_segmentation?distro=kinetic)
  * [ rb_tracker ](/rb_tracker?distro=kinetic)
  * [ rc_cloud_accumulator... ](/rc_cloud_accumulator?distro=kinetic)
  * [ realsense_camera ](/realsense_camera?distro=kinetic)
  * [ robotican_common ](/robotican_common?distro=kinetic)
  * [ rslidar_driver ](/rslidar_driver?distro=kinetic)
  * [ rslidar_pointcloud ](/rslidar_pointcloud?distro=kinetic)
  * [ rtabmap_ros ](/rtabmap_ros?distro=kinetic)
  * [ scan_to_cloud_conver... ](/scan_to_cloud_converter?distro=kinetic)
  * [ semantic_point_annot... ](/semantic_point_annotator?distro=kinetic)
  * [ sick_ldmrs_tools ](/sick_ldmrs_tools?distro=kinetic)
  * [ sick_scan ](/sick_scan?distro=kinetic)


####  Detecting and classifying objects in the scene


PassThrough)

  * [ ProjectInliers ](http://www.ros.org/wiki/pcl_ros/Tutorials/filters


We obtain the terminal outputs as above.


  * [ scan_to_cloud_conver... ](/scan_to_cloud_converter?distro=electric)
  * [ simulator_art ](/simulator_art?distro=electric)
  * [ slam_exporter ](/slam_exporter?distro=electric)
  * [ srs_env_model ](/srs_env_model?distro=electric)
  * [ srs_env_model_percp ](/srs_env_model_percp?distro=electric)
  * [ srs_env_model_utils ](/srs_env_model_utils?distro=electric)
  * [ srs_interaction_prim... ](/srs_interaction_primitives?distro=electric)
  * [ stereo_wall_detectio... ](/stereo_wall_detection?distro=electric)
  * [ table_objects ](/table_objects?distro=electric)
  * [ tabletop_object_dete... ](/tabletop_object_detector?distro=electric)
  * [ turtlebot_block_mani... ](/turtlebot_block_manipulation?distro=electric)
  * [ turtlebot_follower ](/turtlebot_follower?distro=electric)
  * [ turtlebot_kinect_arm... ](/turtlebot_kinect_arm_calibration?distro=electric)
  * [ velodyne_height_map ](/velodyne_height_map?distro=electric)
  * [ velodyne_pointcloud ](/velodyne_pointcloud?distro=electric)
  * [ vfh_recognition ](/vfh_recognition?distro=electric)


    <?xml version="1.0"?>
    <robot xmlns:xacro="http://wiki.ros.org/xacro">

       <xacro:macro name="generate_camera" params="prefix attachment_link package_name:=modproft_camera_description camera_type:=canon_powershot_g7_mk3 debug:=false">

        <xacro:include filename="$(find ${package_name})/urdf/inc/camera_common.xacro"/>
        <xacro:include filename="$(find ${package_name})/urdf/inc/materials.xacro"/>

        <xacro:read_camera_data model_parameter_file="$(find ${package_name})/config/${camera_type}.yaml"/>

        <!-- Todo: Fix Prefix ${prefix} != " "-->
        <xacro:if value="${prefix != " "}">
          <xacro:property name="sensor_reference" value="${prefix}${sensor_name}"/>
        </xacro:if>
        <xacro:if value="${prefix == " "}">
          <xacro:property name="sensor_reference" value="${sensor_name}"/>
        </xacro:if>

        <!-- Define gazebo sensor -->
        <gazebo reference="${sensor_reference}_virtual_frame_link">
          <sensor name="${sensor_reference}" type="${sensor_type}" >
            <always_on>${sensor_always_on}</always_on>
            <update_rate>${sensor_update_rate}</update_rate>
            <camera name="${sensor_reference}">
              <horizontal_fov>${sensor_horizontal_fov}</horizontal_fov>
              <image>
                <width>${sensor_image_width}</width>
                <height>${sensor_image_height}</height>
                <format>${sensor_image_format}</format>
              </image>
              <clip>
                <near>${sensor_image_clip_near}</near>
                <far>${sensor_image_clip_far}</far>
              </clip>
              <distortion>
                <k1>${sensor_image_distortion_k1}</k1>
                <k2>${sensor_image_distortion_k2}</k2>
                <k3>${sensor_image_distortion_k3}</k3>


####  Moving the manipulator to a specified pose


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    * [ English ](https://ch.mathworks.com)
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[ ![Mike Scheutzow gravatar
image](/upfiles/avatars/Mike%20Scheutzow/resized/32/mike090516-med.jpg)
](/users/75154/mike-scheutzow/)


[ **answered 2022-11-28 09:06:34 -0500  ** ](/answers/409951/revisions/)


Extract_Indices)

  * [ PassThrough ](http://www.ros.org/wiki/pcl_ros/Tutorials/filters


  Examples

Subscribe to the ` /velodyne/pointcloud2 ` topic and save each message in the
current directory. File names look like ` 1285627014.833100319.pcd ` , the
exact names depending on the message time stamps.

     $ rosrun pcl_ros pointcloud_to_pcd input:=/velodyne/pointcloud2

Set the ` prefix ` parameter in the current namespace, save messages to files
with names like ` /tmp/pcd/vel_1285627015.132700443.pcd ` .

     $ rosrun pcl_ros pointcloud_to_pcd input:=/my_cloud _prefix:=/tmp/pcd/vel_


* [ Documentation Home  ](../../index.html?s_tid=CRUX_lftnav)


Once Gazebo world starts running, the VM loads a KINOVA Gen3 Robot arm on a
table with one recycling bin on each side. To simulate and control the robot
arm in Gazebo, the VM contains the [ ros_kortex
](https://github.com/Kinovarobotics/ros_kortex) ROS package, which are
provided by KINOVA.


[ ![ROS Answers logo](/m/ros/media/images/logoros.png?v=28) ](/questions/)


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  * [ Canada ](https://www.mathworks.com) (English)
  * [ United States ](https://www.mathworks.com) (English)


###  License


###  Generating 3D Point Cloud Map


                <p1>${sensor_image_distortion_p1}</p1>
                <p2>${sensor_image_distortion_p2}</p2>
                <center>${sensor_image_distortion_center}</center>
              </distortion>
            </camera>
            <plugin filename="libgazebo_ros_camera.so" name="${sensor_reference}_controller">
              <ros>
                  <imageTopicName>/${sensor_reference}/color/image_raw</imageTopicName>
                  <cameraInfoTopicName>/${sensor_reference}/color/camera_info</cameraInfoTopicName>
                  <depthImageTopicName>/${sensor_reference}/depth/image_raw</depthImageTopicName>
                  <depthImageCameraInfoTopicName>/${sensor_reference}/depth/camera_info</depthImageCameraInfoTopicName>
                  <pointCloudTopicName>/${sensor_reference}/points</pointCloudTopicName>
              </ros>
              <camera_name>${sensor_reference}</camera_name>
              <frame_name>${sensor_reference}_virtual_frame_link</frame_name>
              <hack_baseline>${sensor_hack_baseline}</hack_baseline>
              <min_depth>${sensor_min_depth}</min_depth>
            </plugin>
          </sensor>
        </gazebo>

        <!-- Links -->
        <link name="${sensor_reference}_link">
          <visual>
            <origin rpy="${camera_visual_origin_rpy}" xyz="${camera_visual_origin_xyz}"/>
            <geometry>
              <mesh filename="package://${package_name}/meshes/${camera_visual_geometry_mesh}" scale="${camera_visual_geometry_scale}"/>
            </geometry>
          </visual>
          <collision>
            <origin rpy="${camera_collision_origin_rpy}" xyz="${camera_collision_origin_xyz}"/>
            <geometry>
              <mesh filename="package://${package_name}/meshes/${camera_visual_geometry_mesh}" scale="${camera_visual_geometry_scale}"/>
            </geometry>
            <material name="${camera_visual_material}"/>
          </collision>
          <inertial>
            <mass value="${camera_inertial_mass}"/>
            <origin rpy="${camera_inertial_origin_rpy}" xyz="${camera_inertial_origin_xyz}"/>
            <inertia ixx="${camera_inertial_inertia_ixx}" ixy="${camera_inertial_inertia_ixy}" ixz="${camera_inertial_inertia_ixz}" iyy="${camera_inertial_inertia_iyy}" iyz="${camera_inertial_inertia_iyz}" izz="${camera_inertial_inertia_izz}"/>


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  * MathWorks
  * Help Center


  Package Summary

Documented

PCL (Point Cloud Library) ROS interface package. PCL-ROS is the preferred
bridge for 3D applications involving n-D Point Clouds and 3D geometry
processing in ROS. The package contains powerful nodelet interfaces for PCL
algorithms, accepts dynamic reconfiguration of parameters, and supports
multiple threading natively for large scale PPG (Perception Processing Graphs)
construction and usage.

  * Author: Maintained by Radu Bogdan Rusu
  * License: BSD
  * Source: svn [ http://svn.pointclouds.org/ros/branches/fuerte/perception_pcl ](http://svn.pointclouds.org/ros/branches/fuerte/perception_pcl)

_**[ perception_pcl ](/perception_pcl?distro=groovy) ** : pcl_ros _

**Package Links**

  * **[ Code API ](http://docs.ros.org/groovy/api/pcl_ros/html) **
  * **[ Msg API ](http://docs.ros.org/en/groovy/api/pcl_ros/html/index-msg.html) **
  * [ Tutorials ](/pcl_ros/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:pcl_ros/page:1/)
  * [ Change List ](/perception_pcl/ChangeList)
  * [ Reviews ](/pcl_ros/Reviews)

** Dependencies  (12) **

  * [ catkin ](/catkin?distro=groovy)
  * [ dynamic_reconfigure ](/dynamic_reconfigure?distro=groovy)
  * [ eigen ](/eigen?distro=groovy)
  * [ nodelet ](/nodelet?distro=groovy)
  * [ nodelet_topic_tools ](/nodelet_topic_tools?distro=groovy)
  * [ pcl ](/pcl?distro=groovy)
  * [ pluginlib ](/pluginlib?distro=groovy)
  * [ rosbag ](/rosbag?distro=groovy)
  * [ roscpp ](/roscpp?distro=groovy)
  * [ sensor_msgs ](/sensor_msgs?distro=groovy)
  * [ std_msgs ](/std_msgs?distro=groovy)
  * [ tf ](/tf?distro=groovy)


Specify pick-and-place coordinator properties.


The Pick-and-Place workflow is implemented in MATLAB and consists of basic
initialization steps, followed by two main sections:


  * [ srs_env_model_percp ](/srs_env_model_percp?distro=groovy)
  * [ srs_env_model_utils ](/srs_env_model_utils?distro=groovy)
  * [ srs_interaction_prim... ](/srs_interaction_primitives?distro=groovy)
  * [ stereo_wall_detectio... ](/stereo_wall_detection?distro=groovy)
  * [ table_objects ](/table_objects?distro=groovy)
  * [ tabletop_object_dete... ](/tabletop_object_detector?distro=groovy)
  * [ text_locator ](/text_locator?distro=groovy)
  * [ triangulate_point_cl... ](/triangulate_point_cloud?distro=groovy)
  * [ turtlebot_block_mani... ](/turtlebot_block_manipulation?distro=groovy)
  * [ turtlebot_follower ](/turtlebot_follower?distro=groovy)
  * [ turtlebot_kinect_arm... ](/turtlebot_kinect_arm_calibration?distro=groovy)
  * [ velodyne_height_map ](/velodyne_height_map?distro=groovy)
  * [ velodyne_pointcloud ](/velodyne_pointcloud?distro=groovy)
  * [ viso2_ros ](/viso2_ros?distro=groovy)
  * [ wifi_tools ](/wifi_tools?distro=groovy)
  * [ world_intersect ](/world_intersect?distro=groovy)


If you enable to visualize mesh, please add ` --vis ` option.


###  Americas


  * [ nodelet_topic_tools ](/nodelet_topic_tools?distro=hydro)
  * [ pcl_conversions ](/pcl_conversions?distro=hydro)
  * [ pcl_msgs ](/pcl_msgs?distro=hydro)
  * [ pluginlib ](/pluginlib?distro=hydro)
  * [ rosbag ](/rosbag?distro=hydro)
  * [ roscpp ](/roscpp?distro=hydro)
  * [ sensor_msgs ](/sensor_msgs?distro=hydro)
  * [ std_msgs ](/std_msgs?distro=hydro)
  * [ tf ](/tf?distro=hydro)

** Used by  (72) **

  * [ ar_kinect ](/ar_kinect?distro=hydro)
  * [ argos3d_p100 ](/argos3d_p100?distro=hydro)
  * [ base_local_planner ](/base_local_planner?distro=hydro)
  * [ bta_ros ](/bta_ros?distro=hydro)
  * [ cob_3d_features ](/cob_3d_features?distro=hydro)
  * [ cob_3d_mapping_filte... ](/cob_3d_mapping_filters?distro=hydro)
  * [ cob_3d_mapping_geome... ](/cob_3d_mapping_geometry_map?distro=hydro)
  * [ cob_3d_mapping_seman... ](/cob_3d_mapping_semantics?distro=hydro)
  * [ cob_3d_mapping_slam ](/cob_3d_mapping_slam?distro=hydro)
  * [ cob_3d_mapping_tools... ](/cob_3d_mapping_tools?distro=hydro)
  * [ cob_3d_registration ](/cob_3d_registration?distro=hydro)
  * [ cob_3d_segmentation ](/cob_3d_segmentation?distro=hydro)
  * [ cob_3d_transform_nod... ](/cob_3d_transform_nodes?distro=hydro)
  * [ cob_image_flip ](/cob_image_flip?distro=hydro)
  * [ cob_openni2_tracker ](/cob_openni2_tracker?distro=hydro)
  * [ cob_people_detection... ](/cob_people_detection?distro=hydro)
  * [ cob_table_object_clu... ](/cob_table_object_cluster?distro=hydro)
  * [ costmap_2d ](/costmap_2d?distro=hydro)
  * [ demo_lidar ](/demo_lidar?distro=hydro)
  * [ demo_rgbd ](/demo_rgbd?distro=hydro)
  * [ depth_image_proc ](/depth_image_proc?distro=hydro)
  * [ depthcloud_encoder ](/depthcloud_encoder?distro=hydro)
  * [ find_object_2d ](/find_object_2d?distro=hydro)
  * [ fovis_ros ](/fovis_ros?distro=hydro)
  * [ handle_detector ](/handle_detector?distro=hydro)
  * [ head_pose_estimation... ](/head_pose_estimation?distro=hydro)
  * [ hector_barrel_detect... ](/hector_barrel_detection?distro=hydro)
  * [ hector_barrel_detect... ](/hector_barrel_detection_nodelet?distro=hydro)


###  Overview


(more)


Repositories


](https://medium.statuspage.io/?source=post_page-----
70ba44beb443--------------------------------)


4 min read


[ pointcloud2gazebo_config.py
](/CyberAgentAILab/pointcloud2gazebo/blob/main/pointcloud2gazebo_config.py
"pointcloud2gazebo_config.py")


Search or jump to...


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Text to speech


  * [ Robotics System Toolbox ](../index.html?s_tid=CRUX_lftnav)
  * [ Motion and Path Planning  ](../motion-and-path-planning.html?s_tid=CRUX_lftnav)
  * [ Manipulator Planning  ](../manipulator-planning.html?s_tid=CRUX_lftnav)


    docker build -t pointcloud2gazebo .
    ./launch_container.sh


* [ gazebo_sensor ](/questions/scope:all/sort:activity-desc/tags:gazebo_sensor/page:1/)


How do I get the proper orientation of the point cloud? - Since the picture in
RViz matches the viewed object I would assume the point cloud would behave the
same.


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We read every piece of feedback, and take your input very seriously.


  ROS nodes

Several tools run as ROS nodes. They convert ROS messages or bags to and from
Point Cloud Data (PCD) file format.


[ Help Center ](../../index.html) [ Help Center ](../../index.html)


[ Tevhitkarsli ](/@tevhitkarsli?source=post_page-----
70ba44beb443--------------------------------)


  Package Summary

Released

Continuous Integration

Documented

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge
for 3D applications involving n-D Point Clouds and 3D geometry processing in
ROS.

  * Maintainer status: maintained
  * Maintainer: Paul Bovbel <paul AT bovbel DOT com>, Bill Morris <bill AT neautomation DOT com>
  * Author: Open Perception, Julius Kammerl <jkammerl AT willowgarage DOT com>, William Woodall <william AT osrfoundation DOT org>
  * License: BSD
  * Bug / feature tracker: [ https://github.com/ros-perception/perception_pcl/issues ](https://github.com/ros-perception/perception_pcl/issues)
  * Source: git [ https://github.com/ros-perception/perception_pcl.git ](https://github.com/ros-perception/perception_pcl) (branch: hydro-devel)

_**[ perception_pcl ](/perception_pcl?distro=indigo) ** : [ pcl_conversions
](/pcl_conversions?distro=indigo) | [ pcl_msgs ](/pcl_msgs?distro=indigo) |
pcl_ros | [ pointcloud_to_laserscan ](/pointcloud_to_laserscan?distro=indigo)
_

**Package Links**

  * **[ Code API ](http://docs.ros.org/indigo/api/pcl_ros/html) **
  * [ Tutorials ](/pcl_ros/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:pcl_ros/page:1/)
  * [ Changelog ](http://docs.ros.org/en/indigo/changelogs/pcl_ros/changelog.html)
  * [ Change List ](/perception_pcl/ChangeList)
  * [ Reviews ](/pcl_ros/Reviews)

** Dependencies  (17) **

  * [ catkin ](/catkin?distro=indigo)
  * [ cmake_modules ](/cmake_modules?distro=indigo)
  * [ dynamic_reconfigure ](/dynamic_reconfigure?distro=indigo)
  * [ genmsg ](/genmsg?distro=indigo)
  * [ message_filters ](/message_filters?distro=indigo)


###  Stars


This workflow is examined in detail in the [ Pick-and-Place Workflow Using RRT
Planner and Stateflow for MATLAB ](pick-and-place-workflow-using-stateflow-
and-rrt-planner.html) example. For more information about the RRT planner, see
[ Pick and Place Using RRT for Manipulators ](pick-and-place-using-rrt-for-
manipulators.html) . For simpler trajectories where the paths are known to be
obstacle-free, trajectories could be executed using trajectory generation
tools and simulated using the manipulator motion models. See [ Plan and
Execute Task- and Joint-Space Trajectories Using Kinova Gen3 Manipulator
](plan-and-execute-trajectory-kinova-gen3.html) .


* [ The ReadME Project  GitHub community articles  ](/readme)


This example uses:


Add the dependencies to the package.xml file in our basic_pcl package as
above.


[ generate_world.py
](/CyberAgentAILab/pointcloud2gazebo/blob/main/generate_world.py
"generate_world.py")


###  Asia Pacific


gazebo worlds/pointcloud2gazebo.world


###  Generating a Gazebo World


  Usage

     $ rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>

Where:

  * <input_file.bag> is the bag file name to read.

  * <topic> is the topic in the bag file containing messages to save.

  * <output_directory> is the directory on disk in which to create PCD files from the point cloud messages.


[ Custom properties  ](/CyberAgentAILab/pointcloud2gazebo/custom-properties)


It seems, that Gazebo has an issue with the [ plugin ](https://github.com/ros-
simulation/gazebo_ros_pkgs/issues/243) . For as long the problem remains
relevant the solution is to use the optical link as frame reference ( `
<frame_name>${sensor_reference}_virtual_frame_link</frame_name> ` ) but
**_not_ ** as Gazebo plugin reference ( ` <gazebo
reference="${sensor_reference}_link"> ` ). With that you are able to rotate
the optical link as you see fit, without impacting the Octomap. This solution
was found [ here ](https://paste.ubuntu.com/p/bFJPHVDNVQ/) .


    $ python3 generate_world.py --input=data/cloud.ply --vis
    No protocol specified
    [Open3D WARNING] GLFW Error: X11: Failed to open display :0
    [Open3D WARNING] Failed to initialize GLFW
    [Open3D WARNING] [DrawGeometries] Failed creating OpenGL window.


[ ](https://github.com/)


Now, our pcl_velodyne_ws workspace has Velodyne lidar sensor model. We can
launch already existing example which is in velodyne_description package.


After generating a joint trajectory for the robot to follow, the ` example ` C
` ommandMoveToTaskConfig ` function samples the trajectory at the desired
sample rate, packages it into joint-trajectory ROS messages and sends an
action request to the joint-trajectory controller implemented in the KINOVA
ROS package.


  Subscribed Topics

` input ` ( [ sensor_msgs/PointCloud2
](http://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html) )

  * A stream of point clouds to convert to images.


[ 2 Commits  ](/CyberAgentAILab/pointcloud2gazebo/commits/main/)


[ config ](/CyberAgentAILab/pointcloud2gazebo/tree/main/config "config")


  * [ quanergy_client_ros ](/quanergy_client_ros?distro=noetic)
  * [ robot_self_filter ](/robot_self_filter?distro=noetic)
  * [ rtabmap_ros ](/rtabmap_ros?distro=noetic)
  * [ safety_limiter ](/safety_limiter?distro=noetic)
  * [ scan_to_cloud_conver... ](/scan_to_cloud_converter?distro=noetic)
  * [ sciurus17_examples ](/sciurus17_examples?distro=noetic)
  * [ sciurus17_vision ](/sciurus17_vision?distro=noetic)
  * [ semantic_point_annot... ](/semantic_point_annotator?distro=noetic)
  * [ sick_ldmrs_tools ](/sick_ldmrs_tools?distro=noetic)
  * [ sick_scan ](/sick_scan?distro=noetic)
  * [ simple_grasping ](/simple_grasping?distro=noetic)
  * [ spatio_temporal_voxe... ](/spatio_temporal_voxel_layer?distro=noetic)
  * [ toposens_pointcloud ](/toposens_pointcloud?distro=noetic)
  * [ velo2cam_calibration... ](/velo2cam_calibration?distro=noetic)
  * [ velodyne_pcl ](/velodyne_pcl?distro=noetic)

** Jenkins jobs  (10) **

  * [ source debian buster ](https://build.ros.org/view/Nsrc_dB/job/Nsrc_dB__pcl_ros__debian_buster__source)
  * [ source ubuntu focal ](https://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__pcl_ros__ubuntu_focal__source)
  * [ binary debian buster amd64 ](https://build.ros.org/view/Nbin_db_dB64/job/Nbin_db_dB64__pcl_ros__debian_buster_amd64__binary)
  * [ binary debian buster arm64 ](https://build.ros.org/view/Nbin_dbv8_dBv8/job/Nbin_dbv8_dBv8__pcl_ros__debian_buster_arm64__binary)
  * [ binary ubuntu focal amd64 ](https://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__pcl_ros__ubuntu_focal_amd64__binary)
  * [ binary ubuntu focal armhf ](https://build.ros.org/view/Nbin_ufhf_uFhf/job/Nbin_ufhf_uFhf__pcl_ros__ubuntu_focal_armhf__binary)
  * [ binary ubuntu focal arm64 ](https://build.ros.org/view/Nbin_ufv8_uFv8/job/Nbin_ufv8_uFv8__pcl_ros__ubuntu_focal_arm64__binary)
  * [ devel debian buster amd64 ](https://build.ros.org/view/Ndev_db/job/Ndev_db__perception_pcl__debian_buster_amd64)
  * [ devel ubuntu focal amd64 ](https://build.ros.org/view/Ndev/job/Ndev__perception_pcl__ubuntu_focal_amd64)
  * [ doc ](https://build.ros.org/view/Ndoc/job/Ndoc__perception_pcl__ubuntu_focal_amd64)


* [ point_cloud2 ](/questions/scope:all/sort:activity-desc/tags:point_cloud2/page:1/)


####  Visualize the Pick-and-Place Action in Gazebo


Copyright 2021-2024 The MathWorks, Inc.


![Figure contains an axes object. The axes object with xlabel X, ylabel Y
contains 13 objects of type patch. These objects represent base_link,
Shoulder_Link, HalfArm1_Link, HalfArm2_Link, ForeArm_Link, Wrist1_Link,
Wrist2_Link, Bracelet_Link, EndEffector_Link, gripper, pickedPart,
Shoulder_Link_mesh, HalfArm1_Link_mesh, HalfArm2_Link_mesh, ForeArm_Link_mesh,
Wrist1_Link_mesh, Wrist2_Link_mesh, Bracelet_Link_mesh, gripper_mesh,
base_link_mesh.](../../examples/robotics/win64/PickandPlaceWorkflowInGazeboUsingPointCloudProcessingExample_07.png)


17  19-Jan-2023 19:05  25 / 25  ](https://build.ros.org//job/Ndev__perception_pcl__ubuntu_focal_amd64/17/)
  * [


    coordinator.HomeRobotTaskConfig = getTransform(robot, initialRobotJConfig, endEffectorFrame);
    coordinator.PlacingPose{1} = trvec2tform([0.2 0.55 0.26])*axang2tform([0 0 1 pi/2])*axang2tform([0 1 0 pi]);
    coordinator.PlacingPose{2} = trvec2tform([0.2 -0.55 0.26])*axang2tform([0 0 1 pi/2])*axang2tform([0 1 0 pi]);


#  pointcloud2gazebo


  * Pick-and-Place Workflow in Gazebo Using Point-Cloud Processing and RRT Path Planning
  * On this page
  * Overview
  * Robot Simulation and Control in Gazebo
  * Pick-and-Place Tasks
  * Start the Pick-and-Place Workflow


    cd ~/pcl_velodyne_ws/
    catkin_make
    source devel/setup.bash
    rosrun basic_pcl SubscrivePointCloud2Message


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include <ros/ros.h>
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Go to file


can you kindly check the orientation of the camera ...it has to be properly
oriented .


StatisticalOutlierRemoval)

  * [ VoxelGrid ](http://www.ros.org/wiki/pcl_ros/Tutorials/filters


Explore


|  [ Ask Your Question ](/questions/ask/)
---|---|---|---

0


Let’s create a catkin workspace and clone it into a workspace.


14  31-May-2022 19:05  25 / 25  ](https://build.ros.org//job/Ndev__perception_pcl__ubuntu_focal_amd64/14/)

Documented

PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge
for 3D applications involving n-D Point Clouds and 3D geometry processing in
ROS.

  * Maintainer status: maintained
  * Maintainer: Paul Bovbel <paul AT bovbel DOT com>, Kentaro Wada <www.kentaro.wada AT gmail DOT com>, Steve Macenski <stevenmacenski AT gmail DOT com>
  * Author: Open Perception, Julius Kammerl <julius AT kammerl DOT de>, William Woodall <william AT osrfoundation DOT org>
  * License: BSD
  * Bug / feature tracker: [ https://github.com/ros-perception/perception_pcl/issues ](https://github.com/ros-perception/perception_pcl/issues)
  * Source: git [ https://github.com/ros-perception/perception_pcl.git ](https://github.com/ros-perception/perception_pcl) (branch: melodic-devel)

Contents

  1. Overview
  2. ROS nodelets
  3. ROS C++ interface
    1. Publishing point clouds
    2. Subscribing to point clouds
  4. ROS nodes
    1. bag_to_pcd
      1. Usage
      2. Example
    2. convert_pcd_to_image
      1. Published Topics
      2. Usage
    3. convert_pointcloud_to_image
      1. Subscribed Topics
      2. Published Topics
      3. Examples
    4. pcd_to_pointcloud
      1. Published Topics
      2. Parameters
      3. Usage
      4. Examples
    5. pointcloud_to_pcd
      1. Subscribed Topics


Greetings. I have inserted a camera within my gazebo simulation via the gazebo
plugin. The camera works as intended, however the point cloud generated does
not match the camera picture. Since Octomaps are build on the point cloud the
collision map is also misaligned. I've aligned the gazebo camera plugin via
optical link to the camera link (mesh and collision).


[ __ ](/questions/) |


Asked: ** 2022-11-25 08:20:02 -0500  **


##  [ Releases ](/CyberAgentAILab/pointcloud2gazebo/releases)


Follow


Start a ROS-based simulator for a KINOVA Gen3 robot and configure the MATLAB®
connection with the robot simulator.


* Solutions


  Examples

Subscribe to the ` /my_cloud ` topic and republish each message on the `
/my_image ` topic.

     $ rosrun pcl_ros convert_pointcloud_to_image input:=/my_cloud output:=/my_image

To view the images created by the previous command, use [ image_view
](/image_view) .

     $ rosrun image_view image_view image:=/my_image


](https://help.medium.com/hc/en-us?source=post_page-----
70ba44beb443--------------------------------)


  * Documentation
  * [ Examples ](../examples.html?category=manipulator-planning&s_tid=CRUX_topnav)
  * [ Functions ](../referencelist.html?type=function&category=manipulator-planning&s_tid=CRUX_topnav)
  * [ Blocks ](../referencelist.html?type=block&category=manipulator-planning&s_tid=CRUX_topnav)
  * [ Apps ](../referencelist.html?type=app&category=manipulator-planning&s_tid=CRUX_topnav)
  * [ Videos ](/support/search.html?fq\[\]=asset_type_name:video%20category:robotics/manipulator-planning&s_tid=CRUX_topnav)
  * [ Answers ](/support/search.html?fq\[\]=asset_type_name:answer%20category:robotics/manipulator-planning&s_tid=CRUX_topnav)


    //
    // Created by tevhit on 27.06.2023.
    //

    #include <iostream>
    #include <ros/ros.h>
    #include <sensor_msgs/PointCloud2.h>

    // PCL includes
    #include <pcl/point_types.h>
    #include <pcl_ros/point_cloud.h>

    using namespace std;

    class SubscribePointCloud2Message
    {
    public:
        SubscribePointCloud2Message()
        {
            // velodyne_points  -> VLP-16
            // velodyne_points2 -> HDL-32E
            sub_ = nh_.subscribe ("/velodyne_points2", 1,  &SubscribePointCloud2Message::cloudCallback, this);
        }

    private:
        // Callback
        void cloudCallback(const pcl::PCLPointCloud2::ConstPtr& callback)
        {
            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
            pcl::fromPCLPointCloud2(*callback, *cloud);

            std::cout << "Real Time Point Cloud Data:" << std::endl;
            std::cerr << *cloud << std::endl;
            std::cout << "Point Cloud data has: " << cloud->points.size () << " data points." << std::endl;
            std::cout << "----------------------------" << std::endl;
        }

    private:


[ Activity  ](/CyberAgentAILab/pointcloud2gazebo/activity)


](https://speechify.com/medium?source=post_page-----
70ba44beb443--------------------------------)


[ **asked 2022-11-25 08:20:02 -0500  ** ](/questions/409868/revisions/)


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##  Written by  Tevhitkarsli


* [ foxy ](/questions/scope:all/sort:activity-desc/tags:foxy/page:1/)


  * [ simple_grasping ](/simple_grasping?distro=kinetic)
  * [ softkinetic_camera ](/softkinetic_camera?distro=kinetic)
  * [ spatio_temporal_voxe... ](/spatio_temporal_voxel_layer?distro=kinetic)
  * [ turtlebot_arm_block_... ](/turtlebot_arm_block_manipulation?distro=kinetic)
  * [ turtlebot_arm_kinect... ](/turtlebot_arm_kinect_calibration?distro=kinetic)
  * [ velo2cam_calibration... ](/velo2cam_calibration?distro=kinetic)


    cd src
    catkin_create_pkg basic_pcl std_msgs rospy roscpp
    cd ..
    catkin_make


This link include the ROS & Gazebo model of Velodyne Lidar sensor model: [
https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/
](https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/)


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    source devel/setup.bash
    roslaunch velodyne_description example.launch


###  Europe


  * [ laser_scan_matcher ](/laser_scan_matcher?distro=melodic)
  * [ map_merge_3d ](/map_merge_3d?distro=melodic)
  * [ mcl_3dl ](/mcl_3dl?distro=melodic)
  * [ moveit_tutorials ](/moveit_tutorials?distro=melodic)
  * [ multi_object_trackin... ](/multi_object_tracking_lidar?distro=melodic)
  * [ nearfield_map ](/nearfield_map?distro=melodic)
  * [ octomap_pa ](/octomap_pa?distro=melodic)
  * [ octomap_server ](/octomap_server?distro=melodic)
  * [ ouster_driver ](/ouster_driver?distro=melodic)
  * [ pcdfilter_pa ](/pcdfilter_pa?distro=melodic)
  * [ perception_pcl ](/perception_pcl?distro=melodic)
  * [ pf_driver ](/pf_driver?distro=melodic)
  * [ points_preprocessor ](/points_preprocessor?distro=melodic)
  * [ pr2_navigation_perce... ](/pr2_navigation_perception?distro=melodic)
  * [ pr2_navigation_self_... ](/pr2_navigation_self_filter?distro=melodic)
  * [ pr2_tilt_laser_inter... ](/pr2_tilt_laser_interface?distro=melodic)
  * [ quanergy_client_ros ](/quanergy_client_ros?distro=melodic)
  * [ rail_mesh_icp ](/rail_mesh_icp?distro=melodic)
  * [ rail_segmentation ](/rail_segmentation?distro=melodic)
  * [ rc_cloud_accumulator... ](/rc_cloud_accumulator?distro=melodic)
  * [ robot_self_filter ](/robot_self_filter?distro=melodic)
  * [ rslidar_driver ](/rslidar_driver?distro=melodic)
  * [ rslidar_pointcloud ](/rslidar_pointcloud?distro=melodic)
  * [ rtabmap_ros ](/rtabmap_ros?distro=melodic)
  * [ safety_limiter ](/safety_limiter?distro=melodic)
  * [ scan_to_cloud_conver... ](/scan_to_cloud_converter?distro=melodic)
  * [ sciurus17_examples ](/sciurus17_examples?distro=melodic)
  * [ sciurus17_vision ](/sciurus17_vision?distro=melodic)
  * [ semantic_point_annot... ](/semantic_point_annotator?distro=melodic)
  * [ sick_ldmrs_tools ](/sick_ldmrs_tools?distro=melodic)
  * [ sick_scan ](/sick_scan?distro=melodic)
  * [ simple_grasping ](/simple_grasping?distro=melodic)
  * [ spatio_temporal_voxe... ](/spatio_temporal_voxel_layer?distro=melodic)
  * [ toposens_pointcloud ](/toposens_pointcloud?distro=melodic)
  * [ velo2cam_calibration... ](/velo2cam_calibration?distro=melodic)

** Jenkins jobs  (6) **

  * [ source ubuntu bionic ](https://build.ros.org/view/Msrc_uB/job/Msrc_uB__pcl_ros__ubuntu_bionic__source)
  * [ binary ubuntu bionic amd64 ](https://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__pcl_ros__ubuntu_bionic_amd64__binary)


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[ README.md ](/CyberAgentAILab/pointcloud2gazebo/blob/main/README.md
"README.md")


####  Scanning the environment to build planning scene for RRT path planner


  * python ==3.10
  * Open3D
  * NumPy
  * Traitlets


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        % Part has been placed

        % Select next part to pick
        remainingParts = exampleCommandPickingLogicROSGazeboScene(coordinator);

        % Move to home position
        exampleCommandMoveToTaskConfigROSGazeboScene(coordinator,coordinator.HomeRobotTaskConfig);
    end

    Now planning...
    Waiting until robot reaches the desired configuration

    Gripper closed...

    Now planning...
    Waiting until robot reaches the desired configuration

    Gripper open...

         2

    Now planning...
    Waiting until robot reaches the desired configuration

    Now planning...
    Waiting until robot reaches the desired configuration


    load('exampleHelperKINOVAGen3GripperGazeboRRTScene.mat');
    rng(0)


  Usage

     $ rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]

Where:

  * <file.pcd> is the (required) file name to read.

  * <interval> is the (optional) number of seconds to sleep between messages. If <interval> is zero or not specified the message is published once.


  Subscribing to point clouds

You may likewise subscribe to PCL point clouds using the standard `
ros::Subscriber ` :

       1


33  19-Jan-2023 18:44  25 / 25  ](https://build.ros.org//job/Mdev__perception_pcl__ubuntu_bionic_amd64/33/)
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Contact your local office


[ Best way to integrate ndarray into ros2 [closed] ](/question/398470/best-
way-to-integrate-ndarray-into-ros2/)


pip install -r requirements.txt


####  Opening and closing the gripper


Also as a note of importance (because it didn't occur to me right away): Do
not publish a static transform for the camera link, if you implement the
camera via URDF. Since your ` robot_state_publisher ` does already publish the
transform for you, there will be issues if a static transform is tried,
resulting in a inconsistent tf2 tree.


[ Getting the rclcpp::Duration in microseconds ](/question/399382/getting-the-
rclcppduration-in-microseconds/)


* [ octomap2 ](/questions/scope:all/sort:activity-desc/tags:octomap2/page:1/)


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


    mkdir -p ~/.gazebo/models
    cp -r models/pointcloud2gazebo ~/.gazebo/models/


Resources


](/@tevhitkarsli?source=post_page-----
70ba44beb443--------------------------------)


* [ camera ](/questions/scope:all/sort:activity-desc/tags:camera/page:1/)


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You can also select a web site from the following list:


The whole camera macro with solution:


  * README
  * BSD-3-Clause license


    c.Crop.min_z = -1.2
    c.Crop.max_z = 1.0


[ config ](/CyberAgentAILab/pointcloud2gazebo/tree/main/config "config")


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melodic  noetic  _Show EOL distros:_

_EOL distros:_ electric  fuerte  groovy  hydro  indigo  jade  kinetic  lunar

[ See pcl_ros on index.ros.org for more info including aything ROS 2 related.
](https://index.ros.org/p/pcl_ros)

[ Documentation Status ](javascript:toggleDocStatus\(\))

  * **diamondback:** _Only showing information from the released package extracted on Unknown. No API documentation available. Please see[ this page ](http://wiki.ros.org/rosdistro/Tutorials/Indexing%20Your%20ROS%20Repository%20for%20Documentation%20Generation) for information on how to submit your repository to our index. _

  * **electric:** _Documentation generated on March 01, 2013 at 04:26 PM_

  * **fuerte:** _Documentation generated on March 05, 2013 at 01:55 PM_

  * **groovy:** _Documentation generated on October 06, 2014 at 03:22 AM_

  * **hydro:** _Documentation generated on August 26, 2015 at 03:25 PM_ ( [ doc job ](http://jenkins.ros.org/job/doc-hydro-perception_pcl/) ).

  * **indigo:** _Documentation generated on June 07, 2019 at 04:45 AM_ ( [ doc job ](http://build.ros.org/view/Idoc/job/Idoc__perception_pcl__ubuntu_trusty_amd64) ).

  * **jade:** _Documentation generated on May 05, 2016 at 10:56 AM_ ( [ doc job ](http://build.ros.org/view/Jdoc/job/Jdoc__perception_pcl__ubuntu_trusty_amd64) ).

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* Identify Parts and Determine Where to Place Them


Share


If you try to spawn Gazebo World generated by this package, you need to
install Gazebo. Please read [ official document
](https://classic.gazebosim.org/tutorials?tut=install_ubuntu&cat=install) .


Last commit date

---|---|---|---

##  Latest commit


[ edit ](/s/answers/409909/edit/) flag offensive  delete  [ link
](/question/409868/point-cloud-misaligned-with-gazebo-sensor-
plugin/?answer=409909#post-id-409909 "permanent link") more


pointcloud2gazebo is a package that allows you to create a Gazebo World from a
3D point cloud.


  * [ velo2cam_calibration... ](/velo2cam_calibration?distro=lunar)
  * [ velodyne_pointcloud ](/velodyne_pointcloud?distro=lunar)


You can customize the package using [ config/config.py
](/CyberAgentAILab/pointcloud2gazebo/blob/main/config/config.py) .


  * [ Robotics System Toolbox ](matlab:matlab.internal.addons.showAddon\('RO'\)) [ Robotics System Toolbox ](../../robotics/index.html)
  * [ Computer Vision Toolbox ](matlab:matlab.internal.addons.showAddon\('VP'\)) [ Computer Vision Toolbox ](../../vision/index.html)
  * [ ROS Toolbox ](matlab:matlab.internal.addons.showAddon\('RR'\)) [ ROS Toolbox ](../../ros/index.html)
  * [ Image Processing Toolbox ](matlab:matlab.internal.addons.showAddon\('IP'\)) [ Image Processing Toolbox ](../../images/index.html)


  * [ pcl_conversions ](/pcl_conversions?distro=melodic)
  * [ pcl_msgs ](/pcl_msgs?distro=melodic)
  * [ pluginlib ](/pluginlib?distro=melodic)
  * [ rosbag ](/rosbag?distro=melodic)
  * [ rosconsole ](/rosconsole?distro=melodic)
  * [ roscpp ](/roscpp?distro=melodic)
  * [ roslib ](/roslib?distro=melodic)
  * [ sensor_msgs ](/sensor_msgs?distro=melodic)
  * [ std_msgs ](/std_msgs?distro=melodic)
  * [ tf ](/tf?distro=melodic)
  * [ tf2 ](/tf2?distro=melodic)
  * [ tf2_eigen ](/tf2_eigen?distro=melodic)
  * [ tf2_ros ](/tf2_ros?distro=melodic)

** Used by  (59) **

  * [ ar_track_alvar ](/ar_track_alvar?distro=melodic)
  * [ asr_descriptor_surfa... ](/asr_descriptor_surface_based_recognition?distro=melodic)
  * [ asr_navfn ](/asr_navfn?distro=melodic)
  * [ basler_tof ](/basler_tof?distro=melodic)
  * [ bta_tof_driver ](/bta_tof_driver?distro=melodic)
  * [ cis_camera ](/cis_camera?distro=melodic)
  * [ cob_image_flip ](/cob_image_flip?distro=melodic)
  * [ cob_map_accessibilit... ](/cob_map_accessibility_analysis?distro=melodic)
  * [ cob_object_detection... ](/cob_object_detection_visualizer?distro=melodic)
  * [ depthcloud_encoder ](/depthcloud_encoder?distro=melodic)
  * [ ensenso_camera ](/ensenso_camera?distro=melodic)
  * [ floam ](/floam?distro=melodic)
  * [ grid_map_pcl ](/grid_map_pcl?distro=melodic)
  * [ haf_grasping ](/haf_grasping?distro=melodic)
  * [ ibeo_lux ](/ibeo_lux?distro=melodic)
  * [ ifm3d ](/ifm3d?distro=melodic)
  * [ image_view2 ](/image_view2?distro=melodic)
  * [ ira_laser_tools ](/ira_laser_tools?distro=melodic)
  * [ jsk_footstep_planner... ](/jsk_footstep_planner?distro=melodic)
  * [ jsk_pcl_ros ](/jsk_pcl_ros?distro=melodic)
  * [ jsk_pcl_ros_utils ](/jsk_pcl_ros_utils?distro=melodic)
  * [ jsk_perception ](/jsk_perception?distro=melodic)
  * [ jsk_recognition_util... ](/jsk_recognition_utils?distro=melodic)
  * [ laser_ortho_projecto... ](/laser_ortho_projector?distro=melodic)


###  Configuration


    [gripAct,gripGoal] = rosactionclient('/my_gen3/custom_gripper_controller/gripper_cmd');
    gripperCommand = rosmessage('control_msgs/GripperCommand');
    gripperCommand.Position = 0.0;
    gripGoal.Command = gripperCommand;
    sendGoal(gripAct,gripGoal);


Cancel  Submit feedback


` pointcloud2gazebo ` is a package that allows you to create a Gazebo World
from a 3D point cloud.


[ ](/?source=---two_column_layout_nav----------------------------------)


###  Forks


    Now planning...
    Waiting until robot reaches the desired configuration

    % Task 3: Detect objects in the scene to pick
    exampleCommandDetectPartsROSGazeboScene(coordinator);

    Bottle detected...
    Can detected...

    % Task 4: Select next part to pick
    remainingParts = exampleCommandPickingLogicROSGazeboScene(coordinator);

         1

    while remainingParts==true
        % Task 5: [PICKING] Compute grasp pose
        exampleCommandComputeGraspPoseROSGazeboScene(coordinator);

        % Task 6: [PICKING] Move to picking pose
        exampleCommandMoveToTaskConfigROSGazeboScene(coordinator, coordinator.GraspPose);

        % Task 7: [PICKING] Activate gripper
        exampleCommandActivateGripperROSGazeboScene(coordinator,'on');

        % Part has been picked

        % Task 8: [PLACING] Move to placing pose
        exampleCommandMoveToTaskConfigROSGazeboScene(coordinator, ...
        coordinator.PlacingPose{coordinator.DetectedParts{coordinator.NextPart}.placingBelt});

        % Task 9: [PLACING] Deactivate gripper
        exampleCommandActivateGripperROSGazeboScene(coordinator,'off');


[ run ros2 nodes on the fly using python API ](/question/370049/run-
ros2-nodes-on-the-fly-using-python-api/)


This example builds on key concepts from the following related examples:


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  * [ pcl_ros ](/pcl_ros)


  Published Topics

` output ` ( [ sensor_msgs/Image
](http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html) )

  * Corresponding stream of images.


[ tags ](/tags/) [ users ](/users/) [ badges ](/badges/)


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Code


####  Run the Pick-and-Place Application Step by Step


#  Search code, repositories, users, issues, pull requests...


##  [ Packages  0
](/orgs/CyberAgentAILab/packages?repo_name=pointcloud2gazebo)


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Edit: Furthermore, if I rotate the sensor according to ROS convention the
Octomap is orientated according to the camera, but the scene is orientated in
a 90 degree angle (X axis), so the scene is not the scene in front of the
camera.


[ requirements.txt
](/CyberAgentAILab/pointcloud2gazebo/blob/main/requirements.txt
"requirements.txt")


34  15-Feb-2023 20:44  24 / 25  ](https://build.ros.org//job/Mdev__perception_pcl__ubuntu_bionic_amd64/34/)
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