Convert VelodyneScan to PointCloud2 from a rosbag file

Question

Hi,

I would like to build a 3D map from velodyne_points (sensor_msgs/PointCloud2) in offline mode. In order to save some storage space, I am logging only velodyne_packets (velodyne_msgs/VelodyneScan) to a rosbag file using velodyne_driver. Later, I need to convert this VelodyneScan into PointCloud2 to build the map.

So my question is: How to convert VelodyneScan into PointCloud2 when the device is no connected? I was trying velodyne_pointcloud that works fine only when the sensor (Velodyne) is connected. Otherwise, it does not publish /velodyne_points.

Thank you.

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Originally posted by AsifA on ROS Answers with karma: 231 on 2014-09-04

Post score: 1

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Original comments

Comment by bvbdort on 2014-09-05:
how you are running velodyne_pointploud

Comment by AsifA on 2014-09-05:
I am playing back the rosbag file as rosbag play --clock file_name.bag and then launching the cloud_nodelet.launch file located in the velodyne_pointcloud package. cont ...

Comment by AsifA on 2014-09-05:
In the launch file, I am assigning the value "$(find velodyne_pointcloud)/params/32db.yaml" to the parameter "calibration".

Answer 1

add node output on screen, hope it gives whats the problem is.

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Originally posted by bvbdort with karma: 3034 on 2014-09-05

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by AsifA on 2014-09-05:
In addition to this, I also need to run nodelet manager from velodyne_driver package.