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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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Pointcloud maps cannot be saved as PCD #12

Closed Joosoo1 closed 1 year ago

Joosoo1 commented 1 year ago

Under the livox branch: when I run rosservice call /robot/dlio_map/save_pcd 0.1 ~/pcd/campus2, the following error occurs: Point cloud map cannot be saved

kennyjchen commented 1 year ago

Hi @Joosoo1 -- the second argument should be just the folder you want the PCD to be saved in, i.e.

rosservice call /robot/dlio_map/save_pcd 0.1 ~/pcd

which will save the PCD into ~/pcd/dlio_map.pcd. You can then rename the file afterwards.