difference between the two point clouds

[zaddan]

Hi,

do pointcloud and pointcloud_throttled subscribe to the same point cloud? I don't understand the difference between these two topics.

[birchera]

Throttled means that you don't get pointclouds at full rate, but only at an interval specified by the parameter pcl_throttle. This is to prevent excessive data inflow and makes sure there is no additional delay, as would happen when buffering.