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How to generate <sensor_msgs::pointcloud2> format bagfile

Hi, I have some pcap files that were collected in velodyne VLP16, how do I convert this pcap file to a bagfile in the sensor_msgs::pointcloud2 format ? I've tried it

rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=/your/pcap/path/data.pcap _read_once:=true

rosrun rosbag record -O out.bag /velodyne_packets.

But the bag file generated is of type velodyne_msgs/VelodyneScan, my program needs sensor_msgs::PointCloud2 type data. This is a piece of code from my project

subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>("TOPICS", 1, &ImageProjection::cloudHandler, this);

Hope to get a reply soon, and thanks in advance.