- 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
- 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