ros2bag_to_pcd

Convert PointCloud2 in ros2bag to pcd

Environment

• ubuntu22 ros2 humble

Install

cd ros2_ws/src/
git clone https://github.com/KOKIAOKI/ros2bag_to_pcd.git
cd ../
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

For 3D-BBS test data

Output gravity aligned point cloud

source install/setup.bash
ros2 run ros2bag_to_pcd leveling [your bag file path] [lidar topic name] [imu topic name] [save folder path]

====Support msg type====
lidar: sensor_msgs/PointCloud2
imu: sensor_msgs/Imu

Basic Run

1. online

Please correct online_launch.py parameter so that the topic can be read. First terminal

source install/setup.bash
ros2 launch ros2bag_to_pcd online_launch.py

Second terminal

ros2 bag play [your bag file path]

2. offline

source install/setup.bash
ros2 run ros2bag_to_pcd offline [your bag file path] [topic name] [save folder path]

or

cd ros2_ws
./build/ros2bag_to_pcd/offline [your bag file path] [topic name] [save folder path]

3. create map

source install/setup.bash
ros2 run ros2bag_to_pcd create_map [your bag file path] [topic name] [trajectory topic name] [save folder path]

or

cd ros2_ws
./build/ros2bag_to_pcd/create_map [your bag file path] [topic name] [trajectory topic name] [save folder path]