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pcap_to_pointcloud2_publisher_py package from digital-twin-of-a-traffic-scene-using-rsu-and-awsim repo

pcap_to_pointcloud2_publisher_py

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License MIT
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rzninvo/digital-twin-of-a-traffic-scene-using-rsu-and-awsim.git
VCS Type git
VCS Version main
Last Updated 2024-01-02
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A python package to publish Ouster Lidars' PCAP data to ROS2 PointCloud2 Topic

Additional Links

No additional links.

Maintainers

  • rohamzn

Authors

No additional authors.
src/pcap_to_pointcloud2_publisher_py/README.md

ouster_pcap_to_pointcloud2_publisher

A ROS2 Package that publishes Ouster .pcap Lidar recordings to a PointCloud2 topic.
humble

DEMO DEMO_Intesity

Distribution

This package is distributed as a ROS2 Humble Package. It is not intended to be a standalone package, but rather a component of a larger system.

Requirements

  • open3d = 0.17.0
  • ouster-sdk = 0.9.0

Installation

  1. Clone this repository into your ROS2 workspace
  2. Install the dependencies listed above:
    • open3d:
    pip3 install open3d==0.17.0
  • ouster-sdk:
    pip3 install ouster-sdk==0.9.0
  1. Build your ROS2 workspace:
colcon build --packages-select ouster_pcap_to_pointcloud2_publisher
  1. Source your ROS2 workspace:
source /path/to/your/ros2_ws/install/setup.bash
  1. Run the package:
ros2 launch ouster_pcap_to_pointcloud2_publisher pcap_to_ros_launch.xml pcap_file_path:=/path/to/your/pcap/file.pcap pcap_metadata_path:=/path/to/your/pcap/metadata.json topic:=/output/pointcloud2 frame_id:=map
  1. Open rviz2 and add a PointCloud2 display with the topic /output/pointcloud2. You should see the pointcloud from your .pcap file.

Acknowledgements

This package is based on two sources:

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_copyright
ament_flake8
ament_pep257
rclpy
std_msgs
sensor_msgs

System Dependencies

Name
python3-pytest
python3-open3d

Dependant Packages

No known dependants.

Launch files

  • launch/pcap_to_ros_launch.xml
      • pcap_file_path [default: /home/rohamzn/Downloads/OS-1-128_v2.0_1024x10.pcap]
      • pcap_metadata_path [default: /home/rohamzn/Downloads/OS-1-128_v2.0_1024x10.json]
      • frame_id [default: base_link]
      • topic [default: sensing/lidar/concatenated/pointcloud]
      • aut_dt [default: false]
      • publish_intensity [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pcap_to_pointcloud2_publisher_py at Robotics Stack Exchange

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