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pointcloud_accumulator#

Purpose#

The pointcloud_accumulator is a node that accumulates pointclouds for a given amount of time.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points

Output#

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters#

Core Parameters#

Name Type Default Value Description
accumulation_time_sec double 2.0 accumulation period [s]
pointcloud_buffer_size int 50 buffer size

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#