ROS2 PCD Publisher

This ROS2 package provides a node that reads a PCD (Point Cloud Data) file and publishes its contents as a PointCloud2 message on a ROS2 topic.

Prerequisites

• ROS2 (tested on Humble, but should work on other distributions)
• PCL (Point Cloud Library) 1.12 or later
• C++14 or later

Installation

1. Create a new directory in your ROS2 workspace's src folder:

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   git clone https://github.com/omerssid/pcd_publisher.git

2. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select pcd_publisher

3. Source the setup file:

   source ~/ros2_ws/install/setup.bash

Usage

Run the node:

ros2 run pcd_publisher pcd_publisher /path/to/pcd

The node will publish the point cloud data on the /pointcloud topic.

License

This project is licensed under the MIT License - see the LICENSE file for details.