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CyberAgentAILab / pointcloud2gazebo

pointcloud2gazebo is a package that allows you to create a Gazebo World from a 3D point cloud.
BSD 3-Clause "New" or "Revised" License
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Generate world using point cloud from rosbags #1

Open dsakshay opened 10 months ago

dsakshay commented 10 months ago

Could you please explain how I can run this script to take point cloud data from a rosbag as an input to generate a gazebo world?

atinfinity commented 10 months ago

@dsakshay This tool uses Open3D to read point cloud data. https://github.com/CyberAgentAILab/pointcloud2gazebo/blob/7dbe689426009df4624edd6e5fe30c750fc84814/pointcloud2gazebo.py#L15

Please refer to the following page to know the specifications of this API(open3d.io.read_point_cloud). http://www.open3d.org/docs/release/tutorial/geometry/file_io.html#Point-cloud

So, this tool does not support rosbag input.

atinfinity commented 10 months ago

@dsakshay If your rosbag contains image or 3D point cloud, there is the following way.

  1. play rosbag
  2. launch SLAM(vSLAM or 3D LiDAR SLAM) and save 3D point cloud map
  3. use pointcloud2gazebo with 3D point cloud map
dsakshay commented 10 months ago

@dsakshay If your rosbag contains image or 3D point cloud, there is the following way.

  1. play rosbag
  2. launch SLAM(vSLAM or 3D LiDAR SLAM) and save 3D point cloud map
  3. use pointcloud2gazebo with 3D point cloud map

@atinfinity thank you for your response and providing a possible solution, I shall try this and add a comment later.