From 32cd8f1817a23fa26b5de42b425e5150fb159bd5 Mon Sep 17 00:00:00 2001
From: ZhangWanjie <zhangwanjie@126.com>
Date: Fri, 26 Jul 2019 11:48:23 +0800
Subject: [PATCH] pointcloud demo

---
 .../src/wpb_home_pointcloud_node.cpp               | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp b/wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp
index 5a3ed12..0d57d7c 100644
--- a/wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp
+++ b/wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp
@@ -45,12 +45,14 @@ void callbackPC(const sensor_msgs::PointCloud2ConstPtr& msg)
     pcl::fromROSMsg(*msg , pointCloudIn);
 
     int cloudSize = pointCloudIn.points.size();
-    int pcIndex = cloudSize/2;
-    ROS_INFO("[pcIndex= %d] ( %.2f , %.2f , %.2f)", 
-        pcIndex , 
-        pointCloudIn.points[pcIndex].x, 
-        pointCloudIn.points[pcIndex].y, 
-        pointCloudIn.points[pcIndex].z);
+    for(int i=0;i<cloudSize;i++)
+    {
+        ROS_INFO("[i= %d] ( %.2f , %.2f , %.2f)", 
+            i , 
+            pointCloudIn.points[i].x, 
+            pointCloudIn.points[i].y, 
+            pointCloudIn.points[i].z);
+    }
 }
 
 int main(int argc, char **argv)