marcoesposito1988 / open3d_conversions Goto Github PK

import rospy
import open3d_conversions
from sensor_msgs.msg import PointCloud2 

current_cloud = None
def parse_msg(pc_msg):
    global current_cloud
    current_cloud = pc_msg

rospy.init_node('myListener', anonymous=True, disable_signals=True)
rate=rospy.Rate(1)
rospy.Subscriber("/cloud_registered", PointCloud2, parse_msg, queue_size=1)

while not rospy.is_shutdown():
    if current_cloud is None:
        continue

    o3d_cloud = open3d_conversions.from_msg(current_cloud)

    # do open3d things
    # ...
        
    current_cloud = None
    rate.sleep()