A tf broadcaster with a graphical user interface.

Step 1: clone the repository into your own workspace

cd ${PATH_TO YOUR_WORKSPACE_FOLDER}/src
git clone https://github.com/Zhang-Hongda/pointcloud_publisher_qt

Step 2: building

catkin_make

Step 3: activate the workspace

source ${PATH_TO YOUR_WORKSPACE_FOLDER}/devel/setup.bash

First, put your .pcd files in the pcd floder. Then, run:

roscore
rosrun pointcloud_publisher_qt pointcloud_publisher_qt

The interface should look like this:

• The "Ros Master" panel
  • Users can specify the url and ip for connecting the ros master.
  • Check "Use environment variables" if you want to use the environmental configuration of your computer (recommended).
  • Check "Remember settings on stratup" to allows the system to load the current configuration during startup next time.
• The "Point Cloud Publisher" panel
  • Users can specify the publish Rate, Topic Name and Frame ID for the point cloud messages.
  • Click on "Publish" button to publish point cloud messages.
  • Click on "<" button to publish former frame of point cloud.
  • Click on ">" button to publish next frame of point cloud.
  • Click on "Loop" button to publish frames in loop.