lidar_packets_to_pointclouds.md

LiDAR Packets to Point Clouds

The LiDAR data in the released bags is stored as raw packets due to resource constraints on the platforms. To convert these packets into point clouds, we provide ROS1 nodes that can be used to unpack the packets into sensor_msgs/PointCloud2 messages. The nodes can be used to rewrite the sensors_only.bag files to sensors_only_with_clouds.bag files containing the point clouds. The nodes are specific for each LiDAR type so please use the appropriate one per platform as per the table in the README.

Ouster OS0-128 (AR-1)

In your catkin workspace,

• Get this repository: git@github.com:ntnu-arl/ouster-ros.git on this branch: feature/rosbag_packet_unpacking
• Follow the instructions in its README to build the package and source the workspace.
• Use rosrun ouster_ros bag_converter sensors_only.bag sensors_only_with_clouds.bag ouster to convert the bags.

RoboSense Airy (UniPilot AR-2 / GR-1)

In your catkin workspace,

• Get this repository: git@github.com:ntnu-arl/rslidar_sdk.git on this branch: develop
• Follow the instructions in its README to build the package and source the workspace.
• Use rosrun rslidar_sdk bag_converter config/config.yaml sensors_only.bag sensors_only_with_clouds.bag to convert the bags.

Hesai JT-128 (UniPilot handheld)

In your catkin workspace,

• Get this repository: git@github.com:ntnu-arl/HesaiLidar_ROS_2.0.git on this branch: bag_converter
• Follow the instructions in its README to build the package and source the workspace.
• Use rosrun hesai_ros_driver bag_converter sensors_only.bag sensors_only_with_clouds.bag to convert the bags.