Hi Zhiping,

One quick and easy solution would be to just increase the decay time in RViz
to a higher value, for example 1000s or something, to retain visualization
of previous msgs.

Cheers,

Hozefa

On Wed, Sep 8, 2010 at 9:59 AM, #TAN ZHI PING# <TANZ0066@e.ntu.edu.sg>wrote:

>  Hi all,
>
> I tried to run this program in rivz.
>
> -------------------------------
> _Start_Program_---------------------------------
>         sensor_msgs::PointCloud cloud;
>         cloud.header.stamp = ros::Time::now();
>         cloud.header.frame_id = "sensor_frame";
>         cloud.set_point_size(NUM_POINT);
>
>         //we'll also add an intensity channel to the cloud
>         cloud.set_channels_size(1);
>         cloud.channels[0].name = "intensities";
>         cloud.channels[0].set_values_size(NUM_POINT);
>
>         for(unsigned int i =0; i<num_points; ++i){
>             cloud.points[i].x = 1 + count;
>             cloud.points[i].y = 2 + count;
>             cloud.points[i].z = 3 + count;
>             cloud.channels[0].values[i] = 10
>
>         cloud_pub.publish(cloud);
>         ++count;
>
> -------------------------------------_End_program_-----------------------------------------------
>
> Although there is display on the RIVZ, the old data is always removed by
> the new data. What is the setting required to retain the data?
>
> With thanks,
> Zhiping
>
>
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