Cannot see pointcloud in 1.3.0 about realsense-ros HOT 5 CLOSED

@robertxchen66 Due to performance issues, native pointcloud generation has been disabled by default. You have 2 options:

1. If you want generate the native pointcloud, set the "enable_pointcloud" parameter to true in your launch file and view the topic "/camera/depth/points". Refer to r200_nodelet_modify_params.launch to see how its done.
2. If you want to generate pointcloud using depth_image_proc, use r200_nodelet_rgbd.launch and view the topic "/camera/depth_registered/points".

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Thanks. I will try that.

what kind of performance issue are you talking about?

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@robertxchen66 Sometimes, at higher resolutions, the native pointcloud drops the fps of other streams like depth, color etc. We are working on alternate solutions/design.

Please let us know if the above mentioned options worked for you and update the status of the issue accordingly. Thanks.

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@reaganlo I ran the r200_nodelet_navigation.launch, and I can see the pointcloud.
I use a Gen 6 NUC with 16GB of memory. CPU utilization is around 60%. Not terrible. Memory usage about 1.7GB.

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Great. Thanks for the update. Closing the issue.

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