Convert lidar csv files to pcds about avdata

[Liumouliu]

Finally, I am able to do it. The details are listed below for the reference of other people who may want to do the same job.

1. roslaunch ford_demo multi_lidar_convert.launch

By the time (2021/6/4), you need to revise the file multi_lidar_convert.launch following #10

If you want to skip the long replies, the ready-to-use file is attached (change the name to multi_lidar_convert.launch). multi_lidar_convert.txt

2. Follow #21

install the pcl_ros library.

However, before install the library, plz change the line (https://answers.ros.org/question/331779/missing-ros-message-while-running-pointcloud-to-pcd/):

sub_ = nh_.subscribe (cloud_topic_, 1, &PointCloudToPCD::cloud_cb, this);

to

sub_ = nh_.subscribe (cloud_topic_, 100, &PointCloudToPCD::cloud_cb, this);

in file pointcloud_to_pcd.cpp

3. rosrun pcl_ros pointcloud_to_pcd put:=/lidar_blue_pointcloud

As I want to record the lidar blue pointclouds

4. slow play the rosbag, otherwise you will lost pcds

rosbag play ~/Sample-Data.bag -r 0.1

[ankitvora7]

Some of these changes should be in the master branch!

[ankitvora7]

Closing this issue