This PR closes out the second issue mentioned in #26, the difficulty of seeing the sonar returns overlaid because the point cloud was publishing all returns and rviz doesn't respect the alpha-channel on a per-point basis for a pc2.
This is a minor fix to allow the user to set the publish_all_points flag to True/False and, if false, see only positive return values as colored points.
Description
This PR closes out the second issue mentioned in #26, the difficulty of seeing the sonar returns overlaid because the point cloud was publishing all returns and rviz doesn't respect the alpha-channel on a per-point basis for a pc2.
This is a minor fix to allow the user to set the
publish_all_pointsflag to True/False and, if false, see only positive return values as colored points.Results
Original Published Point Cloud
New Published Point Cloud