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:

1. [robosense XYZIRT] to [velodyne XYZIRT / XYZIR / XYZI]: (Recommended)

RS-16, RS-32, RS-Ruby, RS-BP and RS-Helios LiDAR point cloud.

2. [robosense XYZI] to [velodyne XYZIR]:

RS-16 and RS-Ruby LiDAR point cloud, More LiDAR model support is coming soon.

Notice: For rslidar_sdk v1.5+(2022), minor modifications should be made in the code. Please see HViktorTsoi#11. This fix will soon be merged into the main stream.

Usage

1. XYZIRT input

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 XYZIRT
# or
rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZIR
# or
rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZI

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

2. XYZI input

For XYZI format point clouds from /rslidar_points:

rosrun rs_to_velodyne rs_to_velodyne XYZI XYZIR

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

3. XYZI input XYZIRT Output

rosrun rs_to_velodyne rs_to_velodyne XYZIT XYZIR

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

4. Airsim format to Velodyne Format

rosrun rs_to_velodyne airsim_velodyne

or

cd into scripts folder
python3 airsim_velodyne.py

Subscribes

/rslidar_points: sensor_msgs.PointCloud2, from Robosense LiDAR.

Publishes

/velodyne_points: sensor_msgs.PointCloud2, the frame_id is velodyne.