| # LiDAR Packets to Point Clouds |
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| 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](README.md). |
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| ## Ouster OS0-128 (AR-1) |
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| In your catkin workspace, |
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| - 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. |
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| ## RoboSense Airy (UniPilot AR-2 / GR-1) |
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| In your catkin workspace, |
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| - 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. |
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| ## Hesai JT-128 (UniPilot handheld) |
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| 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. |
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