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rosbag2pcd

rosbag转pcd，将激光雷达获取到的rosbag转化为pcd格式的点云文件

使用说明

1. 修改点云转化文件 map_generation_node.cpp

  • 修改rosbag的话题topic
  • 修改pcd点云文件的保存路径
  • 控制rosbag的订阅和保存频率
  • 如有需要，根据雷达或点云信息，调整xyz的偏移以及角度信息

2. 编译运行

  • ros编译 
    catkin_make
  • 运行 
     # 1st terminal for ROS core
 roscore
 # 2nd terminal for decoding node
 ./devel/lib/obstacle_detection/map_generate
 # 3rd terminal for ROSBAG playing
 rosbag play xxx.bag

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