I agree with @Paul_Bovbel, this could use a design discussion. While the 'filter' nodelets work, chaining them can be problematic, particularly if a new point cloud arrives before the current one is finished being processed. Perhaps the ROS2 lifecycle could be used to start a new filter chain if, for example, the current cloud is taking longer than usual to ICP. Something similar to a worker/scheduler model. It may also be worth looking at [ecto](https://github.com/plasmodic/ecto). In the long term I'd like to see a means of passing a point cloud to a GPU and having it to run a set of filter/operations on it. Perhaps something like shaders in OpenGL's rendering pipeline or gstreamer's approach to video processing. --- [Visit Topic](https://discourse.ros.org/t/ros2-pcl-perceptions/3596/16) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: