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Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
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Convert rosbag with Livox CustomMsg to rosbag with PointCloud2 #104

Closed digiamm closed 2 years ago

digiamm commented 2 years ago

Hi, is there any way straightforward way I can convert a rosbag with Livox CustomMsg point cloud to a rosbag with ROS PointCloud2 format?

Thank you in advance

zaalsabb commented 2 years ago

@digiamm Hi, were you able to figure out how to convert bags with CustomMsg messages to PointCloud2 messages? I would really appreciate it.

Thanks! Zaid

maxpolzin commented 1 year ago

@digiamm Did figure out how to convert between CustomMsg and PointCloud2 message? I'd appreciate your inputs.

nilesh-hampi commented 1 year ago

Did anyone figure it out?

juliangaal commented 1 year ago

I ran across the same problem, and couldn't find the functionality in the driver, as it expects the raw lidar packets from the sensor.

Therefore, I wrote a conversion node, available here. From there, just re-record the topics to create the bagfile.