ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/yanliang-wang/ws_sensor_utils.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-12 |
| 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
Additional Links
Maintainers
- hvt
Authors
RS to Velodyne
A ros tool for converting Robosense pointcloud to Velodyne pointcloud format, which can be directly used for downstream algorithm, such as LOAM, LEGO-LOAM, LIO-SAM, etc.
Currently support:
1. [robosense XYZIRT] to [velodyne XYZIRT / XIZIR / XIZI]:
RS-16, RS-32, RS-Ruby and RS-Helios LiDAR point cloud.
2. [robosense XYZI] to [velodyne XYZIR]:
RS-16 and RS-Ruby LiDAR point cloud, More LiDAR model support is coming soon.
Useage
1. XYZIRT input
For XYZIRT format point clouds from /rslidar_points (Notice that, you need the latest
rslidar_sdk driver to get this type of point cloud):
rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZIRT
# or
rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZIR
# or
rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZI
The output point clouds are XYZIRT / XYZIR / XYZI point cloud /velodyne_points in Velodyne’s format.
2. XYZI input
For XYZI format point clouds from /rslidar_points:
rosrun rs_to_velodyne rs_to_velodyne XYZI XYZIR
The output point clouds are XYZIR point cloud /velodyne_points in Velodyne’s format.
Subscribes
/rslidar_points: sensor_msgs.PointCloud2, from Robosense LiDAR.
Publishes
/velodyne_points: sensor_msgs.PointCloud2, the frame_id is velodyne.