normal.launch

gistfile1.xml

<launch>
  <node pkg="nodelet" type="nodelet" name="manager"
        args="manager" />
  <node pkg="topic_tools" type="relay" name="raw_concat_relay"
        args="/camera/depth_registered/points /normal_concat/input" />
  <node pkg="nodelet" type="nodelet" name="normal_estimate"
        args="load pcl/NormalEstimation manager"
        clear_params="true">
    <remap from="~input" to="/camera/depth_registered/points" />
    <remap from="~output" to="/normal_concat/input" />
    <rosparam>
      #radius_search: 0.01
      k_search: 10
      # 0, => ANN, 1 => FLANN, 2 => Organized
      spatial_locator: 0
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="normal_concat"
        args="load pcl/PointCloudConcatenateFieldsSynchronizer manager"
        clear_params="true">
    <rosparam>
      input_messages: 2
      maximum_seconds: 2
      max_queue_size: 20
    </rosparam>
  </node>
</launch>