What is the difference between cloud_topic and cloud_frame

[TouchDeeper]

Hello, I use realsense d435 to test the agile_grasp. The launch file: single_camera_grasps.launch tell me the I need publish the /camera/depth_registered/points and /camera_rgb_optical_frame.

The topic published by realsense is shown in the image below:

I don't know the difference between /camera/depth_registered/points and /camera_rgb_optical_frame

How can I remap the topic published by realsense to the topic which single_camera_grasps.launch need.

[ariochen97]

Have you resolved this problem? Same as me..

[atenpas]

You would want to remap the topic that contains the point cloud.

The difference between /camera/depth_registered/points and /camera_rgb_optical_frame: the first is a ROS topic, the second is a frame.