RobotModel to PointCloud2

This packages allows you to converts any robotModel (for now only the collision meshes) to a PointCloud2.

This can be used directly using pcl for processing (detection, collision checking etc).

Instructions

First load your robot model and make sure it receives joint states. Ex with kuka :

roslaunch kuka_description lbr4.launch
rosrun joint_state_publisher joint_state_publisher _use_gui:=true

Then run the converter node :

rosrun robot_model_to_pointcloud robot_model_to_pointcloud

Author : Antoine Hoarau [email protected]