Cartographer asset writer problem about making pcd file

asked 2021-05-01 11:45:14 -0500

I make bag file and pbstream using cartographer and also slam matching is well done.

And, I want to make pcd file from my mapping map.

I found asset_writer that has option that is write_pcd.

It is work fine about google cartographer public data bag

But, it is not work about my bag using 2d lidar (publish "/scan" topic, type is LaserScan)

Does pcd_write work only on 3D lidar data bagfile?

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