def listener_callback(self, msg):
data = rnp.numpify(msg)
print(type(data))
print(data['x'].shape)
print(data['y'].shape)
print(data['z'].shape)
# access the point:
x_value = data[0][0]
y_value = data[0][1]
z_value = data[0][2]
intensity_value = data[0][3]
print(data[0])
print(x_value, y_value, z_value, intensity_value)
print("******************************")
def subscription(self, msg):
msg = ros2_numpy.numpify(msg)
self._poc_array = ros2_numpy.point_cloud2.get_xyz_points(
msg, remove_nans=True)
self._poc_image = ros2_numpy.point_cloud2.get_xyz_points(
msg, remove_nans=False)