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how to get timestamps for all the points int he pointcloud from rosbag or filtered_points topic

asked 2021-01-28 04:50:18 -0500

Isshed gravatar image

Hi, We are working on a commercial project. We have developed our own localization stack. That is working pretty fine. We though of integrating our stack to autoware.ai. For that we ran NDT based localization in autoware.ai. We used a Velodyne lidar (used the sample rosbag provided on the GitHub) to perform ndt matching using autoware ai. We have successfully run the localization demo. Now while integrating out stack with autoware.ai, the problem we are facing regarding the timestamp on points in pointcloud. Point cloud is of type pcl::PointCloud<pcl::pointxyz>. It has x y and z values only. Out stack demands the points should be stamped with a time (basically x, y, z and time).
I am not sure if it is a right place to ask about experts comment. Is there anyway I can get timestamp for all the points along with the x y and z values. Appreciate If someone can help.

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answered 2021-01-28 10:00:00 -0500

TakaHoribe gravatar image

The time information should be added during the conversion from velodyne_msgs::VelodyneScan to sensor_msgs::PointCloud2, so you need to change the LiDAR driver.

The latest master of ros-drivers/velodyne repository seems to have the time information. I don't know what this "time" means, but this may be what you need.

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Asked: 2021-01-28 04:50:18 -0500

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Last updated: Jan 28 '21