Unable to visualize point cloud in rviz2 using rosbag in ros2

Hello, I am trying to use laser assembler package in ros2. I play the ros1 recorded rosbag having laser scan data but I am unable to see the generated point cloud in rviz2 in ros2. Please can anyone tell me what could be the issue and how this can be solved ? I am using this command to run the rosbag in ros2 which I have recorded in ros1 - ros2 run ros1bridge dynamicbridge --bridge-all-topics

Asked by Robo_guy on 2022-01-09 08:31:18 UTC

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Answers

Hi, I assume you are talking about the laser_assembler package in ROS1. For this, you can play your rosbag, and then the laser_assembler. Notice that this is only a service server, so you have to call it in order to obtain a pointcloud topic as an output. So basically, this should be your setup:

ROS1:

Play rosbag
laser_assembler service server
Program that calls the server to publish pointcloud topic

ROS2:

ros1_bridge
rviz2 with the pointcloud topic to visualize it

If you want to see how I did what I mentioned above step by step, you can check out this video I made:

https://youtu.be/HeTGfEdWdLs

Asked by rodrigo55 on 2022-01-19 13:40:55 UTC

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Hi, thank you for the answer, I watched the video it is helpful. Actually I am sorry I wrote rviz but actually I meant rviz2 and also I did not include exact details of the problem I am facing. So there exists a laser assembler package for ros2 also which I am using. So here is what I am doing -

Simulating turtlebot and playing rosbag to record scan topic in ros1.
Running this ros2 run ros1_bridge dynamic_bridge --bridge-all-topics.
Playing the recorded rosbag file.
Running the laser assembler launch file and service caller script in ros2.
Running rviz2 for visualizing the point cloud.

Here is where I am facing the issue, I can visualize the laser scans on the laser scan topic in rviz2 but cannot see the point cloud on the published point cloud topic in rviz2. Can you tell what could be the issue ?

Asked by Robo_guy on 2022-01-20 00:16:11 UTC

@rodrigo55 can you please tell what could be the issue here ?

Asked by Robo_guy on 2022-01-25 00:31:56 UTC