Hi <span style="font-family:Tahoma;font-size:13px;border-collapse:collapse">Zhiping,</span><div><font face="Tahoma"><span style="border-collapse:collapse"><br>
</span></font></div><div><font face="Tahoma"><span style="border-collapse:collapse">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.</span></font></div>

<div><font face="Tahoma"><span style="border-collapse:collapse"><br></span></font></div><div><font face="Tahoma"><span style="border-collapse:collapse">Cheers,</span></font></div>
<div><font face="Tahoma"><span style="border-collapse:collapse"><br></span></font></div><div><font face="Tahoma"><span style="border-collapse:collapse">Hozefa<br>
</span></font><br><div class="gmail_quote">On Wed, Sep 8, 2010 at 9:59 AM, #TAN ZHI PING# <span dir="ltr"><<a href="mailto:TANZ0066@e.ntu.edu.sg" target="_blank">TANZ0066@e.ntu.edu.sg</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">






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

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<br></blockquote></div><br></div>