This packages allows you to converts any robotModel (for now only the collision meshes) to a PointCloud2.
This can be used directly using pcl for processing (detection, collision checking etc).
First load your robot model and make sure it receives joint states. Ex with kuka :
roslaunch kuka_description lbr4.launch
rosrun joint_state_publisher joint_state_publisher _use_gui:=true
Then run the converter node :
rosrun robot_model_to_pointcloud robot_model_to_pointcloud
Author : Antoine Hoarau hoarau.robotics@gmail.com