0
$\begingroup$

I am working on a project whose main objective is to check the sensors that can perceive the environment and implement those in gazebo environment. so i am trying to implement lidar sensor and generate point cloud of the outdoor environment. Can anyone guide me how to generate a point cloud of an outdoor environment in Ignition Gazebo Fortress?

$\endgroup$
4
  • $\begingroup$ Please edit your post and tell us what you have figured out so far, and what you are stuck on. A simple web search should return many examples of how to configure a lidar sensor in ignition gazebo. $\endgroup$
    – Mike973
    Oct 3, 2023 at 14:09
  • $\begingroup$ @Mike973 sorry about not being specific in the pose. Let me elaborate my question. I have a outdoor environment created in gazebo simulation, which at the moment include just human and a square block as an entity. I have lidar publishing the lidar data and lidar points. i am able to see the points in rviz. Now i want to create a point cloud for the given scenario. or create a .pcd file of the scene. so that i can implement some dnn algo. so the question is : how can i create a .pcd file? Thank your for your response. $\endgroup$
    – Hem92j
    Oct 3, 2023 at 14:46
  • $\begingroup$ What message type is the lidar node publishing? If it is LaserScan, you're not going to get much of a "cloud" from a 2d lidar and its single plane. $\endgroup$
    – Mike973
    Oct 3, 2023 at 16:00
  • $\begingroup$ @Mike973 I am using pointcloud2 msg for 3d lidar. $\endgroup$
    – Hem92j
    Oct 4, 2023 at 6:02

1 Answer 1

2
$\begingroup$

So you want to take a ros2 PointCloud2 message and write it to a .pcd file.

There is a existing ros1/ros2 package called pcl_ros. The src code for both is in this github repo, but I don't know the current status of the port to ros2. This package has a ros node named pointcloud_to_pcd that writes PointCloud2 messages into .pcd files.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.