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All of the search results I find for interaction for ROS and PCL are a few years old. I'm curious if there is a way to save PCD files from Kinect streams directly by a ROS input. Let's assume that the Kinects are launched through the standard openni.launch approach with names kinect_1 and Kinect_2. Would I be able to take "snapshots" of the stream and then use that data for a PCD file and PCL applications?


Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-04-07

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I´m not aware of any official implementation, but writing a small node(let) that does this should be pretty easy. In this Q/A something very close to what you want to do is discussed (along with code).


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2014-04-07

This answer was ACCEPTED on the original site

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