I am a new user of ROS. I have produced a bag file with data from Velodyne VLP 16 LIDAR and a GPS. I used a python script from https://www.clearpathrobotics.com/assets/guides/ros/Converting%20ROS%20bag%20to%20CSV.html to convert the bag file to csv. But I can't understand the csv file. Can someone explain to me which is x,y,z,intensity ? Or any other way where I could extract LIDAR (timestamp, x,y,z,i), GPS (lat, long)and IMU data (yaw,pitch, roll)? I will be using IMU later.