Some Depth camera based on PS1080 SoC such as Asus Xtion and (some) Xtion Pro don't come with RGB camera.
The original 'camera_with_cloud' launch file requires the missing RGB color stream, which Xtion and (some) Xtion Pro don't provide. This make point cloud topic publish no message at all.
Solving by changing depth_image_proc::PointCloudXyzrgbNode to depth_image_proc::PointCloudXyzNode and remove all RGB related topic remap in launch file. Resulted in the new launch file named 'camera_with_cloud_norgb'. Modified from 'camera_with_cloud' launch file.
I tested with these following device and environment
Some Depth camera based on PS1080 SoC such as Asus Xtion and (some) Xtion Pro don't come with RGB camera.
The original 'camera_with_cloud' launch file requires the missing RGB color stream, which Xtion and (some) Xtion Pro don't provide. This make point cloud topic publish no message at all.
Solving by changing
depth_image_proc::PointCloudXyzrgbNodetodepth_image_proc::PointCloudXyzNodeand remove all RGB related topic remap in launch file. Resulted in the new launch file named 'camera_with_cloud_norgb'. Modified from 'camera_with_cloud' launch file.I tested with these following device and environment