https://github.com/koide3/points_inspector
An inspection tool for sensor_msgs/PointCloud2 messages [ROS1/ROS2]
https://github.com/koide3/points_inspector
pointcloud ros ros2
Last synced: 11 months ago
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An inspection tool for sensor_msgs/PointCloud2 messages [ROS1/ROS2]
- Host: GitHub
- URL: https://github.com/koide3/points_inspector
- Owner: koide3
- Created: 2022-12-06T05:23:54.000Z (about 3 years ago)
- Default Branch: master
- Last Pushed: 2023-01-20T11:23:22.000Z (about 3 years ago)
- Last Synced: 2025-03-21T22:21:54.377Z (11 months ago)
- Topics: pointcloud, ros, ros2
- Language: C++
- Homepage:
- Size: 8.79 KB
- Stars: 14
- Watchers: 1
- Forks: 3
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
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README
# points_inspector
An inspection tool to see field values of sensor_msgs/msg/PointCloud2 messages.
[](https://github.com/koide3/points_inspector/actions/workflows/build.yaml)
Usage:
```bash
# ROS1
rosrun points_inspector points_inspector_node points:=/os1_cloud_node1/points
# ROS2
ros2 run points_inspector points_inspector_node -r points:=/os1_cloud_node1/points
```
Output example:
```
--- points ---
frame_id:laser_data_frame
stamp :1670294980 379087360
size :512 x 128
x : datatype=FLOAT32 mean=3.894 first=-0.000 last=-0.000 median=0.000 min=-5.003 max=53.615
y : datatype=FLOAT32 mean=0.245 first=0.000 last=-0.000 median=0.000 min=-98.566 max=138.273
z : datatype=FLOAT32 mean=0.406 first=0.000 last=-0.000 median=-0.000 min=-2.003 max=15.989
intensity : datatype=FLOAT32 mean=120.222 first=0.000 last=0.000 median=4.000 min=0.000 max=9207.000
t : datatype=UINT32 mean=1352700063.0 first=2690838016 last=2690838016 median=49959936 min=0 max=2690838016
reflectivity : datatype=UINT16 mean=5.4 first=0 last=0 median=0 min=0 max=184
ring : datatype=UINT8 mean=63.5 first=0 last=127 median=64 min=0 max=127
ambient : datatype=UINT16 mean=391.8 first=0 last=0 median=293 min=0 max=6605
range : datatype=UINT32 mean=6368.6 first=0 last=0 median=0 min=0 max=138284
```
## Docker images
- [koide3/points_inspector:noetic ](https://hub.docker.com/repository/docker/koide3/points_inspector)
- [koide3/points_inspector:humble ](https://hub.docker.com/repository/docker/koide3/points_inspector)
```bash
# ROS1 noetic
docker run --rm --net host koide3/points_inspector:noetic rosrun points_inspector points_inspector_node points:=/os1_cloud_node1/points
```
```bash
# ROS2 humble (You may need some DDS configuration for ROS2 communication over docker)
docker run --rm koide3/points_inspector:humble ros2 run points_inspector points_inspector_node -r points:=/os1_cloud_node1/points
```