06. ROS: Subscribed Topics

List of Subscribed Topics

Topics listed below will subscribed if you are starting the nodelets with the provided launch file:

Nodelet median_filter:

• /kinect2/sd/image_depth_rect (std_msgs/Image)
  Rectified depth image.
  Internally this nodelet subscribes to /image_in but the topic name is remapped in the launch file.

Nodelet point_cloud_xyz:

• /kinect_utilities/depth_image_filtered (std_msgs/Image)
  Filtered depth image.
  Internally this nodelet subscribes to /depth_in but the topic name is remapped in the launch file.

Nodelet voxel_grid_filter:

• /kinect_utilities/pointcloud (sensor_msgs/PointCloud2)
  Input point cloud.
  Internally this nodelet subscribes to /cloud_in but the topic name is remapped in the launch file.

Nodelet pointcloud_to_laserscan:

• /kinect_utilities/pointcloud (sensor_msgs/PointCloud2)
  Filtered point cloud.
  Internally this nodelet subscribes to /cloud_in but the topic name is remapped in the launch file.