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feat: improve script for decoding packets into a new rosbag (#236)
* feat: create a new script for decoding packets into a new rosbag Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * do not use ament_auto instead Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * restore Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix spell check Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * merge modifications Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix bug Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix bug Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * reset output number to a small one so that we do not break things Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * update variable names Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * clean up default variables Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * ci(pre-commit): autofix * fix typo Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * update configuration file Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix CMakeList Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * remove extra empty line Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * Update nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp output all point clouds when out_num_ = 0 Co-authored-by: Max Schmeller <[email protected]> * Update nebula_examples/launch/hesai_offline_bag_pcd.xml update grammar for the descriptions. Co-authored-by: Max Schmeller <[email protected]> * update default values and description Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> --------- Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <[email protected]>
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Original file line number | Diff line number | Diff line change |
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@@ -1,38 +1,41 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64"/> | ||
<arg name="return_mode" default="Dual" description="See readme for supported return modes"/> | ||
<arg name="frame_id" default="hesai"/> | ||
<arg name="scan_phase" default="0.0" /> | ||
<!-- action selection --> | ||
<arg name="output_pcd" default="true" description="Whether to output each decoded pointclouds to a PCD file"/> | ||
<arg name="output_rosbag" default="true" description="Whether to output the decoded pointclouds to a new RosBag"/> | ||
<arg name="forward_packets_to_rosbag" default="false" description="Whether to copy the input packets to the output RosBag"/> | ||
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<!-- sensor related configuration --> | ||
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|Pandar128E4X"/> | ||
<arg name="lidar_parameter_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml" description="Path: LiDAR configuration yaml"/> | ||
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<!-- output sample number configuration --> | ||
<arg name="out_num" default="0" description="The maximum number of pointclouds to output. 0 to output all pointclouds"/> | ||
<arg name="skip_num" default="0" description="The number of pointclouds to discard at the beginning"/> | ||
<arg name="bag_path" description="Path of the input RosBag"/> | ||
<arg name="input_topic" default="/pandar_packets" description="Name of the input packets topic, e.g. /pandar_packets"/> | ||
<arg name="output_topic" default="/pandar_points" description="Name of the output pointcloud topic"/> | ||
<arg name="out_path" description="Directory path to which the output RosBag and PCDs will be saved"/> | ||
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<arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/> | ||
<arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/> | ||
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<arg name="bag_path" default="path to bag dir"/> | ||
<arg name="storage_id" default="sqlite3"/> | ||
<arg name="out_path" default="path to output dir"/> | ||
<arg name="format" default="cdr"/> | ||
<arg name="target_topic" default="/pandar_packets"/> | ||
<arg name="out_num" default="1"/> | ||
<arg name="skip_num" default="3"/> | ||
<arg name="only_xyz" default="true"/> | ||
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<node pkg="nebula_examples" exec="hesai_ros_offline_extract_bag_pcd_node" | ||
name="hesai_cloud" output="screen"> | ||
<param name="sensor_model" value="$(var sensor_model)"/> | ||
<param name="return_mode" value="$(var return_mode)"/> | ||
<param name="frame_id" value="$(var frame_id)"/> | ||
<param name="scan_phase" value="$(var scan_phase)"/> | ||
<param name="calibration_file" value="$(var calibration_file)"/> | ||
<param name="correction_file" value="$(var correction_file)"/> | ||
<param from="$(var lidar_parameter_file)" allow_substs="true" /> | ||
<param name="output_pcd" value="$(var output_pcd)"/> | ||
<param name="output_rosbag" value="$(var output_rosbag)"/> | ||
<param name="forward_packets_to_rosbag" value="$(var forward_packets_to_rosbag)"/> | ||
<param name="bag_path" value="$(var bag_path)"/> | ||
<param name="storage_id" value="$(var storage_id)"/> | ||
<param name="out_path" value="$(var out_path)"/> | ||
<param name="input_topic" value="$(var input_topic)"/> | ||
<param name="output_topic" value="$(var output_topic)"/> | ||
<param name="storage_id" value="$(var storage_id)"/> | ||
<param name="format" value="$(var format)"/> | ||
<param name="target_topic" value="$(var target_topic)"/> | ||
<param name="out_num" value="$(var out_num)"/> | ||
<param name="skip_num" value="$(var skip_num)"/> | ||
<param name="only_xyz" value="$(var only_xyz)"/> | ||
</node> | ||
</launch> |
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