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Example Code for ROS1-Point Cloud Publishing

Last revision 2026/01/29

The article provides a comprehensive guide on publishing point cloud data using ROS1, detailing hardware and software setup, example code execution, and visualization steps in RVIZ and RQT. It includes preparation tips, necessary commands, and expected results, making it an essential resource for anyone looking to effectively utilize ROS1 for point cloud data management and visualization.

Hardware Preparation

RGB-D Sensor Camera (SKU:SEN0583), Quantity: 1, Purchase Link: DFRobot

Software Preparation

ROS1 (install link: ROS Wiki)
Sipeed_tofv075-ros package (download link: Sipeed)

Other Preparation Work

Prepare a Linux environment for ROS1.
Extract the sipeed_tofv075-ros.zip package and navigate to its path.

command

Extract sipeed_tofv075-ros.zip，and open its path
command1: source /opt/ros/*/setup.sh
command: catkin_make
command: source devel/setup.sh
command: rosrun sipeed_tof_cpp publisher

Then the terminal continuously refreshes the command line

Result

The terminal will continuously refresh with command line output indicating data publishing.
View frames in RQT by selecting Plugins->Topics->Topic Monitor.
Preview point cloud data in RVIZ by adding PointCloud2 or /depth topics and setting the Fixed Frame to "tof".

Terminal Result
RVIZ Result

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