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- <launch>
- <!-- Start the nodelet manager -->
- <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
- <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
- <node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
- <remap from="~input" to="/camera/depth_registered/points" />
- <remap from="~output" to="/voxel_grid" />
- <rosparam>
- filter_field_name: z
- filter_limit_min: 0.5
- filter_limit_max: 3.5
- filter_limit_negative: False
- leaf_size: 0.05
- </rosparam>
- </node>
- </launch>
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