Outputing coloured scans.pcd

[DMoniatis]

Hi, thank you very much for your amazing work.

With the default launch configuration and different camera constants, I can get the point cloud in RViz to be coloured using the RGB camera's colours. Unfortunately, the saved point clouds from the package don't seem to have any RGB colour information in them.

How do I get them to display the RGB information? For reference, I am processing them using CloudCompare.

Cheers

[Syrinel167]

Try this.
This rosnode subscribes the "/color_pc" topic and saves the whole pcd file.
You can run it together with the slam.