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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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how to convert velodyne_msgs/VelodyneScan into sensor_msgs/PointCloud2 with XYZIRT ? #460

Closed mujiubai closed 2 years ago

mujiubai commented 2 years ago

Please complete the following information:

Describe the bug I want to convert velodyne_msgs/VelodyneScan into sensor_msgs/PointCloud2, and compile the v1.6.1 driver. I use the convert node to convert the msg, but the result is XYZIR, it's no time. How can I get the XYZIRT ? thanks a lot

To Reproduce Steps to reproduce the behavior:

  1. compile driver
  2. run roscore
  3. rosrun nodelet nodelet standalone velodyne_pointcloud/CloudNodelet _calibration:="/home/enwu/catkin_ws/src/velodyne/velodyne_pointcloud/params/VLP16db.yaml"
  4. rosbag play a.bag
JWhitleyWork commented 2 years ago

@mujiubai Unfortunately, the Kinetic version of the driver does not support this field and Kinetic is no longer supported so a Pull Request to add this feature would not be reviewed or accepted. Please use a newer version of ROS which is still supported such as Melodic, Noetic, or Foxy from ROS2. Otherwise, you will need to make your own fork and add the feature yourself.