Create a bag file from multiple pcd files.

asked 2021-02-22 03:08:45 -0500

Ifx13 gravatar image

I've turned the bin files of a sequence from the KITTI odometry velodyne dataset in pcd format and now I have multiple pcd files. I want to learn how to put these pcd files in a bag as pointcloud messages so I can use this bag with rtab. Does anybody have any ideas about how to move on from here ?

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Maybe a node reading the directory and publishing each point cloud at a specified framerate, then do a rosbag record on the topic published. The topic could be published directly to rtabmap too.

matlabbe gravatar image matlabbe  ( 2021-02-22 14:29:07 -0500 )edit