RS to Velodyne

A ros tool for converting Robosense pointcloud or AirSim lidar to Velodyne pointcloud format, which can be directly used for downstream algorithm, such as LOAM, LEGO-LOAM, LIO-SAM, etc.

Currently support:

1. [Airsim XYZI] to [velodyne XYZIR]:

Airsim Lidar2 point cloud

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

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

3. [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

Launch using

roslaunch rs_to_velodyne rs_to_velodyne.launch

Arguments

raw_lidar_topic: The raw lidar topic to be converted.

input_cloud_type: Input cloud format type (the type of pointcloud published by raw_lidar_topic). Options are XYZI, XYZIT, or XYZIRT.

output_cloud: Output cloud format type. Options are XYZI, XYZIR, or XYZIRT.

Subscribes

<raw_lidar_topic>: sensor_msgs.PointCloud2, from Robosense LiDAR or AirSim LiDAR.

Publishes

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