ros2 humble pointcloud_to_pcd stuck

[mgiurato]

Hi folks,
I am running in a ROS2 Humble environment a RTABmap node which provides me a topic /rtabmap/cloud_map (sensor_msgs/msg/PointCloud2) and I want it to be exported in a .pcd file with the executable pointcloud_to_pcd.
From the terminal I am running the command:

ros2 run pcl_ros pointcloud_to_pcd --ros-args --remap input:=/rtabmap/cloud_map

After the execution I am not getting any feedback from the command line nor the process finishes the execution and I must kill it with ctrl+c.

Do you have any idea?
In particular, I am not running the pcl_ros package from apt but I succesfully built the code from the commit 7e3401c of the ros2 branch.

Have a nice day!

Mattia

[samuel-ongzx]

Hi Mattia,

I tried the pointcloud_to_pcd from commit 7e3401c and I am able to save the PCD files from the point cloud topic. See image attached.

The pointcloud_to_pcd node (being a node) will still be alive after saving all the point clouds (assuming you are replaying from a bag file). You would have to kill the node if you would like to stop the node from continuing to listen to the specific PointCloud2 topic and saving the pcd files.

Let me know if you still face this problem or if I misunderstood your answer, I would be happy to help.

[CCodie]

Hi @samuel-ongzx ,
thank you for sharing information !

Now I can save pcd files from pointcloud2 topic,
but the problem is that points only have 'x, y, z' attributes when I save it into pcd file.

I want to use 'intensity, time' information but it seems they are lost during converting.
Can you give me some advice ?

[KacperSynator]

Hi @CCodie,

I have similar issue. You can try changing PoinXYZ in pointcloud_to_pcd.cpp to PointXYZI.

For me it is still not working, i have the problem that is described here: lgsvl/simulator#51 (comment)