damonmin / rs_to_velodyne

A ros tool for converting Robosense pointcloud to Velodyne pointcloud format.

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 RS-16 and RS-Ruby LiDAR point cloud, of XYZI and XYZIRT format. More LiDAR model support will comming soon.

Useage

1. XYZI

For XYZI format point clouds from /rslidar_points:

rosrun rs_to_velodyne rs_to_velodyne XYZI

The output point clouds are XYZIR point cloud /velodyne_points in Velodyne's format.

2. XYZIRT

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

The output point clouds are XYZIRT 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.