Disable pointcloud reconstruction in ros_driver

Issue #47 resolved
Ryohei Ueda created an issue

We'd like to disable pointcloud reconstruction and just publish depth and color image because our computer on robot is not so powerful. Is it possible to disable it?

Comments (4)

  1. Matt Alvarado

    Hi Ryohei,

    Point clouds are not reconstructed or published unless there is an explicit subscription to them. You can confirm this by viewing the output from rqt_graph.

    rosrun rqt_graph rqt_graph
    

    As long as you just maintain active subscriptions to the depth and color image topics, no point clouds will be reconstructed.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

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