ajxdhe commented 2 years ago

I start the ct_icp by using roslaunch ct_icp_odometry ct_icp_slam.launch and rosbag play semantickitti_sequence07.bag and now I want to save the pointcloud map my rostopic list is SUMMARY

Published topics:

Subscribed topics:

Subscribed topics:

/ct_icp/gt_pose/odom [nav_msgs/Odometry] 1 subscriber
/ct_icp/pose/odom [nav_msgs/Odometry] 1 subscriber
/rosout [rosgraph_msgs/Log] 2 subscribers
/velodyne_points [sensor_msgs/PointCloud2] 1 subscriber
/tf [tf2_msgs/TFMessage] 1 subscriber
/tf_static [tf2_msgs/TFMessage] 1 subscriber
/initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
/ct_icp/key_points [sensor_msgs/PointCloud2] 1 subscriber [sensor_msgs/PointCloud2] 1 subscriber
/tf [tf2_msgs/TFMessage] 1 subscriber
/tf_static [tf2_msgs/TFMessage] 1 subscriber
/initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
/ct_icp/key_points [sensor_msgs/PointCloud2] 1 subscriber

if I use rosrun pcl_ros pointcloud_to_pcd input:=/velodyne

I can only save the map in one frame,but I want to save the whole pointcloud map

str199044 commented 1 year ago

I also want to save the map. Do you know how to get it?

yuxinpsu commented 11 months ago

me too

jedeschaud / ct_icp