[How to Run Offline Perception Visualizer] how can I get demo rosbag with LiDAR data

Durant35 commented 6 years ago

Mentioned in How to Run Offline Perception Visualizer 1. Prepare PCD and Pose Data, we need rosbag with LiDAR data.

Actually, rosbag recorded following topics

/apollo/sensor/velodyne64/VelodyneScanUnified
/apollo/sensor/velodyne64/PointCloud2
/apollo/sensor/velodyne64/compensator/PointCloud2

Durant35 commented 6 years ago

You can get Apollo1.5_demo.bag in 传感器样例数据

With following recorded data

duration:    2:16s (136s)
start:       Sep 06 2017 07:16:00.61 (1504653360.61)
end:         Sep 06 2017 07:18:17.51 (1504653497.51)
size:        8.9 GB
messages:    265972
compression: none [2867/2867 chunks]
types:       bond/Status                       [eacc84bf5d65b6777d4c50f463dfb9c8]
         pb_msgs/ADCTrajectory             [97587fe9a5b2df2b61888d56c6fc697b]
         pb_msgs/Chassis                   [d6a21658031a6a4615858d76f8b5178e]
         pb_msgs/ControlCommand            [67f7ff8a4c675dc97a8c7ce6d6289943]
         pb_msgs/GnssStatus                [6ab9bfa7e56e2724f6d30280b731fef2]
         pb_msgs/Gps                       [8fad5985ce947d3b6854fd093a59c429]
         pb_msgs/Imu                       [bdef0ba51869607ed95736d41e80c1f5]
         pb_msgs/InsStat                   [36306149a641468d85afa4cf44de7141]
         pb_msgs/InsStatus                 [e5242c64749c5980f75940dffcdf2fba]
         pb_msgs/LocalizationEstimate      [503c8e75900db180bc61534806a37cfb]
         pb_msgs/PerceptionObstacles       [c6fd886a685be1dbbc6174bbc5a754de]
         pb_msgs/PredictionObstacles       [45bac0c01020cbf041fb9bd39f790e93]
         pb_msgs/StreamStatus              [d6e98995ddcddd79bc955699f0ac28c9]
         rosgraph_msgs/Log                 [acffd30cd6b6de30f120938c17c593fb]
         sensor_msgs/PointCloud2           [1158d486dd51d683ce2f1be655c3c181]
         std_msgs/String                   [992ce8a1687cec8c8bd883ec73ca41d1]
         tf2_msgs/TFMessage                [94810edda583a504dfda3829e70d7eec]
         velodyne_msgs/VelodyneScanUnified [a02f26cda99b9e0189aac08ed1065a71]
topics:      /apollo/canbus/chassis                              13439 msgs    : pb_msgs/Chassis                  
         /apollo/control                                     12107 msgs    : pb_msgs/ControlCommand           
         /apollo/localization/pose                           13456 msgs    : pb_msgs/LocalizationEstimate     
         /apollo/perception/obstacles                         1257 msgs    : pb_msgs/PerceptionObstacles      
         /apollo/planning                                      630 msgs    : pb_msgs/ADCTrajectory            
         /apollo/prediction                                   1242 msgs    : pb_msgs/PredictionObstacles      
         /apollo/sensor/gnss/corrected_imu                   13114 msgs    : pb_msgs/Imu                      
         /apollo/sensor/gnss/gnss_status                       543 msgs    : pb_msgs/GnssStatus               
         /apollo/sensor/gnss/ins_stat                          270 msgs    : pb_msgs/InsStat                  
         /apollo/sensor/gnss/ins_status                          1 msg     : pb_msgs/InsStatus                
         /apollo/sensor/gnss/odometry                        13472 msgs    : pb_msgs/Gps                      
         /apollo/sensor/gnss/raw_data                        40676 msgs    : std_msgs/String                  
         /apollo/sensor/gnss/stream_status                       1 msg     : pb_msgs/StreamStatus             
         /apollo/sensor/velodyne64/PointCloud2                1321 msgs    : sensor_msgs/PointCloud2          
         /apollo/sensor/velodyne64/VelodyneScanUnified        1322 msgs    : velodyne_msgs/VelodyneScanUnified
         /apollo/sensor/velodyne64/compensator/PointCloud2    1307 msgs    : sensor_msgs/PointCloud2          
         /gnss_nodelet_manager/bond                            817 msgs    : bond/Status                       (4 connections)
         /rosout                                             73261 msgs    : rosgraph_msgs/Log                 (12 connections)
         /rosout_agg                                         63356 msgs    : rosgraph_msgs/Log                
         /tf                                                 13568 msgs    : tf2_msgs/TFMessage               
         /tf_static                                              1 msg     : tf2_msgs/TFMessage               
         /velodyne_nodelet_manager/bond                        811 msgs    : bond/Status                       (4 connections)