Getting Started

ROSPointCloudMeshify

Launch the ROSPointCloudMeshify ROS2 node:

ros2 run object_detection object_detection_mesh_creator_node --ros-args -p mode:=fast

  • The mode parameter can be set to fast, greedy, or poisson to select the surface reconstruction algorithm.

  • The generated mesh will be published to the /object_markers topic as MarkerArray.

  • The PointCloud2 data is received from the /points/xyzrgba topic.

ROSUnityMeshViz

Start the ROS-TCP-Endpoint

ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0

Launch the ROSUnityMeshViz application on Unity and connect to the endpoint.

Streaming PointCloud2 Data

Ensure you have a source with PointCloud2 data via ROS2, for example from a 3D camera or a ROS2 bag file. In my example, I use the Zivid camera with zivid-ros.